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In this paper, a fixed-time distributed cooperative control under actuator faults with input saturation scheme is designed for multiple surface vessels (MSVs). Firstly, a fixed-time disturbance observer (FxDO) is introduced to observe unknown environmental disturbances and actuator faults (AF). Secondly, to deal with the actuator saturation, an improved nonlinear antiwindup compensator is introduced to compensate for the saturation effect of the actuator. Thirdly, a fixed-time fault-tolerant event-triggered control law with the actuator saturation is applied to cooperative control based on a fixed-time nonsingular terminal sliding mode manifold (FxNTSMM), and their cooperative errors can converge within fixed time. At the same time, the upper bound of convergence time is independent of the initial state. Finally, the stability analysis of the cooperative control system is given to prove that the system can realize the practical fixed time stability, and Zeno phenomenon is avoided by theoretical proof. Simulation results are given to demonstrate the effectiveness of the proposed control scheme.

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Nonsingular terminal sliding mode-based distributed cooperative event-triggered control for multiple surface vessels under actuator faults with input saturation