Distributed Robust Predefined-Time Sliding Mode Control for AUV-USV Heterogeneous Multi-Agent Systems Based on Memory Event-Triggered Mechanism Under Input Saturation

This paper studies the distributed robust predefined-time sliding mode control (DRPSC) problem for high-order heterogeneous multi-agent systems under input saturation while considering external disturbances and model uncertainties. Firstly, a distributed predefined-time state observer (PTSO) is designed for each agent to achieve individual estimation of the state information of the virtual leader within a predefined time, and the observer does not need to count on the global information of the system. Secondly, a predefined-time auxiliary dynamic system (PTADS) is developed to solve the actuator’s input saturation problem. Thirdly, a distributed predefined-time sliding mode controller (PTSMC) is proposed, which ensures that the error converges to a small region near zero within a predefined time and combines H_∞ control to deal with the lumped uncertainty disturbances in the system to improve the robustness of the system. In addition, a memory event-triggered mechanism (METM) is designed to reduce the communication frequency of the underactuated AUV-USV multi-agent system and reduce the consumption of communication resources. Finally, Lyapunov theory is employed to prove that the closed-loop system is predefined-time stable, and the simulation results demonstrate that the proposed method is effective.