Adaptive formation control for autonomous surface vessels with prescribed-time convergence

Huang, Ziyang; Li, Jun; Huang, Bing

doi:10.1177/17298806221105722

Cited by 3 publications

(2 citation statements)

References 34 publications

(82 reference statements)

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“…For those with external disturbance and partially unknown nonlinear dynamics, such as known inertia matrix, robust, sliding mode and time-varying control methods are proposed in [7], [8] and [9], respectively. Moreover, for those with external disturbance and complete unknown nonlinear dynamics, fuzzy method, neural network and model predictive control are respectively used in [10], [11][12][13] and [14].…”

Section: Introductionmentioning

confidence: 99%

Anti-saturation time-varying formation control via switching for a wider class of patterns of multiple uncertain marine surface vessels

Li,

Liang,

2024

Nonlinear Dyn

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This paper is devoted to the time-varying formation control of multiple marine surface vessels (MSVs) with input saturation. Remarkably, more serious uncertainties are involved than the related literature since external disturbance is considered while all the system parameters are unknown. Moreover, different from the severe constraints on the formation patterns and the leader's dynamics in the related literature, rather fairly weak conditions are required since the relative deviations are only first but not more order continuously differentiable which imply that a wider class of formation patterns can be allowed, while the time derivatives of relative deviations as well as the leader's output are not necessarily available for feedback. These two aspects make the traditional control methods on this topic ineffective. Then, by skilfully combining vectorial backstepping control method with logic-based switching mechanism, a switching controller is successfully designed for the formation control in this paper. It is worthwhile pointing out that, by the skilful design of a switching mechanism, the serious uncertainties are compensated while the severe assumptions on the formation patterns of the related literature are extremely relaxed. Finally, simulation results are provided to validate the effectiveness of the proposed theoretical results.

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Section: Introductionmentioning

confidence: 99%

Anti-saturation time-varying formation control via switching for a wider class of patterns of multiple uncertain marine surface vessels

Li,

Liang,

2024

Nonlinear Dyn

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“…Moreover, the convergence time is not explicitly related to the adjustable parameters of the controller. Therefore, predefined-time control methods were proposed in [10][11][12][13] to make a system converge to the steady state in a predefined time without relying on the initial value of the system. The convergence time does not need to be calculated in a complicated way, and the convergence time can be adjusted by controlling the parameters.…”

Section: A Introductionmentioning

confidence: 99%

Self-Adjusting Prescribed Performance H∞ Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles

Zhuo,

Liu,

Tian

et al. 2024

IEEE Access

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A predefined-time H∞ trajectory tracking control scheme based on self-adjusting prescribed performance functions and dynamic relative threshold event-triggered mechanism is proposed for a five-degree-of-freedom underactuated autonomous underwater vehicle (AUV) with unknown external disturbances and actuators saturated. First, a new self-adjusting prescribed performance function is designed to ensure that the tracking errors do not exceed the prescribed bounds and to solve the singularity problem of general prescribed performance control (PPC) due to actuator saturation. Second, a predefinedtime H∞ controller combined with a predefined-time dynamic surface control (DSC) method is proposed to guarantee that system signals converge to the neighborhood of zero in a predefined time without adjusting the control parameters and to improve system robustness to uncertain disturbances. Third, an improved dynamic relative threshold event-triggered method is designed to save the communication resources of an underactuated AUV system. Then, the Lyapunov stability proof indicates that all signals in the closed-loop system are predefined-time bounded, and the trajectory tracking errors can converge to the neighborhood of zero within the set desired time. Finally, the simulations not only demonstrate the performance of the proposed controller-controlled system but also verify the effectiveness of the proposed scheme.

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Anti-saturation time-varying formation control via switching for a wider class of patterns of multiple uncertain marine surface vessels

Li,

Liang,

2023

Preprint

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This paper is devoted to the time-varying formation control of multiple marine surface vessels (MSVs) with input saturation. Remarkably, more serious uncertainties are involved than the related literature since external disturbance is considered while all the system parameters are unknown. Moreover, different from the severe constraints on the formation patterns and the leader’s dynamics in the related literature, rather fairly weak conditions are required since the relative deviations are only first but not more order continuously differentiable which imply that a wider class of formation patterns can be allowed, while the time derivatives of relative deviations as well as the leader’s output are not necessarily available for feedback. These two aspects make the traditional control methods on this topic ineffective. Then, by skilfully combining vectorial backstepping control method with logic-based switching mechanism, a switching controller is successfully designed for the formation control in this paper. It is worthwhile pointing out that, by the skilful design of a switching mechanism, the serious uncertainties are compensated while the severe assumptions on the formation patterns of the related literature are extremely relaxed. Finally, simulation results are provided to validate the effectiveness of the proposed theoretical results. Mathematics Subject Classification (2020) 93C10

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Adaptive formation control for autonomous surface vessels with prescribed-time convergence

Cited by 3 publications

References 34 publications

Anti-saturation time-varying formation control via switching for a wider class of patterns of multiple uncertain marine surface vessels

Anti-saturation time-varying formation control via switching for a wider class of patterns of multiple uncertain marine surface vessels

Self-Adjusting Prescribed Performance H∞ Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles

Anti-saturation time-varying formation control via switching for a wider class of patterns of multiple uncertain marine surface vessels

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