Adaptive Second-Order Fast Terminal Sliding-Mode Formation Control for Unmanned Surface Vehicles
The formation control of unmanned surface vehicles (USVs) while considering communication topology, dynamic model uncertainties, environmental disturbances, and a fast convergence rate is addressed in this paper. First, graph theory is introduced to describe the connective relationships and establis...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-11-01
|
| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/10/11/1782 |
| _version_ | 1797464901900304384 |
|---|---|
| author | Duansong Wang Min Kong Gang Zhang Xiaoling Liang |
| author_facet | Duansong Wang Min Kong Gang Zhang Xiaoling Liang |
| author_sort | Duansong Wang |
| collection | DOAJ |
| description | The formation control of unmanned surface vehicles (USVs) while considering communication topology, dynamic model uncertainties, environmental disturbances, and a fast convergence rate is addressed in this paper. First, graph theory is introduced to describe the connective relationships and establish generalized formation errors among USVs. Then, a second-order fast nonsingular terminal sliding-mode control (SOFNTSMC) is designed to guarantee that the system converges quickly and without chatter. An adaptive update law is designed in order to estimate the model uncertainties and external disturbances without the requirement of the boundary information of the system uncertainties. With the application of the adaptive SOFNTSMC (ASOFNTSMC) and graph theory, a distributed control is developed for every USV to perform the desired formation pattern. Finally, the results of simulations and comparisons demonstrate the effectiveness of the proposed method. |
| first_indexed | 2024-03-09T18:13:48Z |
| format | Article |
| id | doaj.art-69080c456d8c46a4b3db9ac80107dbf9 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T18:13:48Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-69080c456d8c46a4b3db9ac80107dbf92023-11-24T08:52:51ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-11-011011178210.3390/jmse10111782Adaptive Second-Order Fast Terminal Sliding-Mode Formation Control for Unmanned Surface VehiclesDuansong Wang0Min Kong1Gang Zhang2Xiaoling Liang3School of Electrical and Photoelectronic Engineering, West Anhui University, Lu’an 237012, ChinaSchool of Electrical and Photoelectronic Engineering, West Anhui University, Lu’an 237012, ChinaSchool of Electrical and Photoelectronic Engineering, West Anhui University, Lu’an 237012, ChinaDepartment of Marine Engineering, Dalian Maritime University, Dalian 116026, ChinaThe formation control of unmanned surface vehicles (USVs) while considering communication topology, dynamic model uncertainties, environmental disturbances, and a fast convergence rate is addressed in this paper. First, graph theory is introduced to describe the connective relationships and establish generalized formation errors among USVs. Then, a second-order fast nonsingular terminal sliding-mode control (SOFNTSMC) is designed to guarantee that the system converges quickly and without chatter. An adaptive update law is designed in order to estimate the model uncertainties and external disturbances without the requirement of the boundary information of the system uncertainties. With the application of the adaptive SOFNTSMC (ASOFNTSMC) and graph theory, a distributed control is developed for every USV to perform the desired formation pattern. Finally, the results of simulations and comparisons demonstrate the effectiveness of the proposed method.https://www.mdpi.com/2077-1312/10/11/1782unmanned surface vehiclesformation controlgraph theoryadaptive second-order fast sliding mode |
| spellingShingle | Duansong Wang Min Kong Gang Zhang Xiaoling Liang Adaptive Second-Order Fast Terminal Sliding-Mode Formation Control for Unmanned Surface Vehicles Journal of Marine Science and Engineering unmanned surface vehicles formation control graph theory adaptive second-order fast sliding mode |
| title | Adaptive Second-Order Fast Terminal Sliding-Mode Formation Control for Unmanned Surface Vehicles |
| title_full | Adaptive Second-Order Fast Terminal Sliding-Mode Formation Control for Unmanned Surface Vehicles |
| title_fullStr | Adaptive Second-Order Fast Terminal Sliding-Mode Formation Control for Unmanned Surface Vehicles |
| title_full_unstemmed | Adaptive Second-Order Fast Terminal Sliding-Mode Formation Control for Unmanned Surface Vehicles |
| title_short | Adaptive Second-Order Fast Terminal Sliding-Mode Formation Control for Unmanned Surface Vehicles |
| title_sort | adaptive second order fast terminal sliding mode formation control for unmanned surface vehicles |
| topic | unmanned surface vehicles formation control graph theory adaptive second-order fast sliding mode |
| url | https://www.mdpi.com/2077-1312/10/11/1782 |
| work_keys_str_mv | AT duansongwang adaptivesecondorderfastterminalslidingmodeformationcontrolforunmannedsurfacevehicles AT minkong adaptivesecondorderfastterminalslidingmodeformationcontrolforunmannedsurfacevehicles AT gangzhang adaptivesecondorderfastterminalslidingmodeformationcontrolforunmannedsurfacevehicles AT xiaolingliang adaptivesecondorderfastterminalslidingmodeformationcontrolforunmannedsurfacevehicles |