Predefined‐Time Intelligent Switching Tracking Algorithm for Multiagent Ship Maneuvering Systems With Intermittent Performance Constraints

ABSTRACT This paper investigates the adaptive predefined‐time tracking issue for a class of multi‐ship maneuvering systems subject to input delays. Firstly, an intelligent distributed switching tracking algorithm is designed such that each ship unit can respond to local information independently while maintaining overall multi‐agent systems coordination. Based on the proposed algorithm, a neural network predefined‐time controller integrates a finite‐time differentiator with Pade approximation to deal with the issues caused by “complexity explosion” and input delay. In addition, the considered intermittent output constraints can be adjusted flexibly and effectively eliminated by barrier functions and shift functions. Furthermore, the proposed controller can ensure that all signals in the closed‐loop system can remain bounded and the output of the system achieves the desired tracking signal within a predefined time. Finally, to verify the effectiveness, the proposed strategy is applied to multi‐ship manoeuvring systems with external disturbances and input time delays.