Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation
This paper investigates the formation tracking control problem of a group of underactuated surface vessels (USVs) in the presence of model uncertainties and environmental disturbances. Additional constraints, such as collision avoidance, heterogeneous limited communication range and input saturation...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/10/10/3372 |
| _version_ | 1827716969378349056 |
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| author | Guoqing Xia Xiaoming Xia Bo Zhao Chuang Sun Xianxin Sun |
| author_facet | Guoqing Xia Xiaoming Xia Bo Zhao Chuang Sun Xianxin Sun |
| author_sort | Guoqing Xia |
| collection | DOAJ |
| description | This paper investigates the formation tracking control problem of a group of underactuated surface vessels (USVs) in the presence of model uncertainties and environmental disturbances. Additional constraints, such as collision avoidance, heterogeneous limited communication range and input saturation are also considered. A modified barrier Lyapunov function (BLF) is introduced to achieve the connectivity preservation, the collision avoidance and the distributed formation tracking. Extended state observer (ESO) is employed to estimate total disturbances consisting of environmental disturbances and model uncertainties. Auxiliary variables are introduced to deal with the underactuated problem and input saturation. A distributed controller is developed for each USV. Using the Lyapunov method analyze the stability of the system, it is proven that all signals are bounded and tracking errors converge to a neighborhood of the origin. Simulation results show that the proposed controller is practicable and effective. |
| first_indexed | 2024-03-10T19:52:08Z |
| format | Article |
| id | doaj.art-093ef31da0054daf94c2dfb85c36580f |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T19:52:08Z |
| publishDate | 2020-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-093ef31da0054daf94c2dfb85c36580f2023-11-20T00:16:17ZengMDPI AGApplied Sciences2076-34172020-05-011010337210.3390/app10103372Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input SaturationGuoqing Xia0Xiaoming Xia1Bo Zhao2Chuang Sun3Xianxin Sun4College of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaThis paper investigates the formation tracking control problem of a group of underactuated surface vessels (USVs) in the presence of model uncertainties and environmental disturbances. Additional constraints, such as collision avoidance, heterogeneous limited communication range and input saturation are also considered. A modified barrier Lyapunov function (BLF) is introduced to achieve the connectivity preservation, the collision avoidance and the distributed formation tracking. Extended state observer (ESO) is employed to estimate total disturbances consisting of environmental disturbances and model uncertainties. Auxiliary variables are introduced to deal with the underactuated problem and input saturation. A distributed controller is developed for each USV. Using the Lyapunov method analyze the stability of the system, it is proven that all signals are bounded and tracking errors converge to a neighborhood of the origin. Simulation results show that the proposed controller is practicable and effective.https://www.mdpi.com/2076-3417/10/10/3372collision avoidancedistributed tracking controlconnectivity-preservingunderactuated surface vessel (USV)input saturation |
| spellingShingle | Guoqing Xia Xiaoming Xia Bo Zhao Chuang Sun Xianxin Sun Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation Applied Sciences collision avoidance distributed tracking control connectivity-preserving underactuated surface vessel (USV) input saturation |
| title | Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation |
| title_full | Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation |
| title_fullStr | Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation |
| title_full_unstemmed | Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation |
| title_short | Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation |
| title_sort | distributed tracking control for connectivity preserving and collision avoiding formation tracking of underactuated surface vessels with input saturation |
| topic | collision avoidance distributed tracking control connectivity-preserving underactuated surface vessel (USV) input saturation |
| url | https://www.mdpi.com/2076-3417/10/10/3372 |
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