Predefined-Time Dynamic Observer-Based Bipartite Consensus Sliding Mode Formation Control of Heterogeneous ASVs-AAVs System

This article focuses on achieving predefined-time (PT) bipartite consensus formation control in heterogeneous multi-agent system (MAS), which consist of underactuated USVs and UAVs with uncertain internal dynamics and external disturbances. Firstly, the heterogeneous USVs-UAVs system are subjected to a model transformation, converting it into fully actuated system. Then, a PT dynamic observer is developed to estimate both uncertain internal dynamics and external disturbances. Combining the virtual leader-follower model, a distributed predefined-time bipartite consensus sliding mode formation control (PTBCSMFC) protocol is developed for each heterogeneous USVs-UAVs system follower based on the designed PT observer, ensuring convergence at the predefined time. Finally, numerical simulations are performed under both fixed and time-varying formation scenarios to demonstrate the effectiveness of the proposed PTBCSMFC algorithm.