Fixed-Time Event-Triggered Control for Distributed Unmanned Underwater Vehicles

This paper investigates the problem of fixed-time event-triggered consensus control for distributed unmanned underwater vehicle systems subject to communication and energy constraints. The systematic integration control framework is developed, where each unmanned underwater vehicles updates their control inputs only at event-triggered instants instead of continuously, thereby reducing unnecessary communication and actuation efforts. By designing a fixed-time consensus protocol, it is guaranteed that the group of unmanned underwater vehicles achieves time-synchronized consensus within the convergence time, independent of the initial conditions. The stability and convergence of the proposed scheme are rigorously proved using Lyapunov theory and fixed-time stability analysis. Furthermore, a zeno-free triggering condition is established to ensure the feasibility of practical implementation. Numerical simulations are carried out on a team of unmanned underwater vehicles to demonstrate the effectiveness of the proposed method in achieving precise coordination, reducing communication burden, and enhancing energy efficiency in distributed marine operations.