Formation Control of Multiple Underactuated Surface Vehicles Based on Prescribed-Time Method
This paper investigates the formation control problem of multiple underactuated surface vehicles (USVs). By utilizing input and state transformations, the dynamic model of the USV is converted into an equivalent system consisting of two cascade-connected subsystems. For one of the subsystems, by com...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9169640/ |
| _version_ | 1811210500206231552 |
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| author | Pengfei Zhang Tingting Yang Dong Li |
| author_facet | Pengfei Zhang Tingting Yang Dong Li |
| author_sort | Pengfei Zhang |
| collection | DOAJ |
| description | This paper investigates the formation control problem of multiple underactuated surface vehicles (USVs). By utilizing input and state transformations, the dynamic model of the USV is converted into an equivalent system consisting of two cascade-connected subsystems. For one of the subsystems, by combining back-stepping method with time-varying scale functions, <inline-formula> <tex-math notation="LaTeX">$C_{1}$ </tex-math></inline-formula> smooth prescribed-time control laws are presented. This approach is proved to stabilize the transformed subsystem in the fixed time and address the formation problem while guaranteeing global exponential stabilization. Simulations are given to demonstrate the effectiveness of the presented method. |
| first_indexed | 2024-04-12T04:55:34Z |
| format | Article |
| id | doaj.art-472e4e6d934a437ebf2392007d316cd7 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-12T04:55:34Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-472e4e6d934a437ebf2392007d316cd72022-12-22T03:47:07ZengIEEEIEEE Access2169-35362020-01-01815137115138210.1109/ACCESS.2020.30169809169640Formation Control of Multiple Underactuated Surface Vehicles Based on Prescribed-Time MethodPengfei Zhang0https://orcid.org/0000-0003-1628-4450Tingting Yang1Dong Li2School of Engineering, Huzhou University, Huzhou, ChinaSchool of Engineering, Huzhou University, Huzhou, ChinaDepartment of Mechanical and Electrical Engineering, Wuhan City Vocational University, Wuhan, ChinaThis paper investigates the formation control problem of multiple underactuated surface vehicles (USVs). By utilizing input and state transformations, the dynamic model of the USV is converted into an equivalent system consisting of two cascade-connected subsystems. For one of the subsystems, by combining back-stepping method with time-varying scale functions, <inline-formula> <tex-math notation="LaTeX">$C_{1}$ </tex-math></inline-formula> smooth prescribed-time control laws are presented. This approach is proved to stabilize the transformed subsystem in the fixed time and address the formation problem while guaranteeing global exponential stabilization. Simulations are given to demonstrate the effectiveness of the presented method.https://ieeexplore.ieee.org/document/9169640/Exponential stabilityformation controlprescribed-time methodunderactuated surface vehicles |
| spellingShingle | Pengfei Zhang Tingting Yang Dong Li Formation Control of Multiple Underactuated Surface Vehicles Based on Prescribed-Time Method IEEE Access Exponential stability formation control prescribed-time method underactuated surface vehicles |
| title | Formation Control of Multiple Underactuated Surface Vehicles Based on Prescribed-Time Method |
| title_full | Formation Control of Multiple Underactuated Surface Vehicles Based on Prescribed-Time Method |
| title_fullStr | Formation Control of Multiple Underactuated Surface Vehicles Based on Prescribed-Time Method |
| title_full_unstemmed | Formation Control of Multiple Underactuated Surface Vehicles Based on Prescribed-Time Method |
| title_short | Formation Control of Multiple Underactuated Surface Vehicles Based on Prescribed-Time Method |
| title_sort | formation control of multiple underactuated surface vehicles based on prescribed time method |
| topic | Exponential stability formation control prescribed-time method underactuated surface vehicles |
| url | https://ieeexplore.ieee.org/document/9169640/ |
| work_keys_str_mv | AT pengfeizhang formationcontrolofmultipleunderactuatedsurfacevehiclesbasedonprescribedtimemethod AT tingtingyang formationcontrolofmultipleunderactuatedsurfacevehiclesbasedonprescribedtimemethod AT dongli formationcontrolofmultipleunderactuatedsurfacevehiclesbasedonprescribedtimemethod |