Adaptive formation control for autonomous surface vessels with prescribed-time convergence
This article is dedicated to solving the problem of predefined-time cooperative control for autonomous surface vessels encountering model uncertainties and external perturbations. By virtue of the prescribed-time stable theory, a robust formation controller is constructed, with which the settling ti...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2022-07-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806221105722 |
| _version_ | 1828759976263286784 |
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| author | Ziyang Huang Jun Li Bing Huang |
| author_facet | Ziyang Huang Jun Li Bing Huang |
| author_sort | Ziyang Huang |
| collection | DOAJ |
| description | This article is dedicated to solving the problem of predefined-time cooperative control for autonomous surface vessels encountering model uncertainties and external perturbations. By virtue of the prescribed-time stable theory, a robust formation controller is constructed, with which the settling time of the cooperative system can be prescribed in advance. The controller is developed under the backstepping framework, where the dynamic surface control is applied to generate the real-time command. Considering the unmodeled autonomous surface vessel dynamics, the neural network-based nonlinear approximator is incorporated with minimum-learning-parameter technique. Under this scenario, the real-time control can be pursed with one parameter being estimated. Finally, comparative simulation examples are provided to exhibit the effectiveness and advantages of designed control strategies. |
| first_indexed | 2024-12-11T01:06:55Z |
| format | Article |
| id | doaj.art-9d6abc66945f4c878104bd652d1ce52e |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T01:06:55Z |
| publishDate | 2022-07-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-9d6abc66945f4c878104bd652d1ce52e2022-12-22T01:26:09ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142022-07-011910.1177/17298806221105722Adaptive formation control for autonomous surface vessels with prescribed-time convergenceZiyang Huang0Jun Li1Bing Huang2 Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, China College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, ChinaThis article is dedicated to solving the problem of predefined-time cooperative control for autonomous surface vessels encountering model uncertainties and external perturbations. By virtue of the prescribed-time stable theory, a robust formation controller is constructed, with which the settling time of the cooperative system can be prescribed in advance. The controller is developed under the backstepping framework, where the dynamic surface control is applied to generate the real-time command. Considering the unmodeled autonomous surface vessel dynamics, the neural network-based nonlinear approximator is incorporated with minimum-learning-parameter technique. Under this scenario, the real-time control can be pursed with one parameter being estimated. Finally, comparative simulation examples are provided to exhibit the effectiveness and advantages of designed control strategies.https://doi.org/10.1177/17298806221105722 |
| spellingShingle | Ziyang Huang Jun Li Bing Huang Adaptive formation control for autonomous surface vessels with prescribed-time convergence International Journal of Advanced Robotic Systems |
| title | Adaptive formation control for autonomous surface vessels with prescribed-time convergence |
| title_full | Adaptive formation control for autonomous surface vessels with prescribed-time convergence |
| title_fullStr | Adaptive formation control for autonomous surface vessels with prescribed-time convergence |
| title_full_unstemmed | Adaptive formation control for autonomous surface vessels with prescribed-time convergence |
| title_short | Adaptive formation control for autonomous surface vessels with prescribed-time convergence |
| title_sort | adaptive formation control for autonomous surface vessels with prescribed time convergence |
| url | https://doi.org/10.1177/17298806221105722 |
| work_keys_str_mv | AT ziyanghuang adaptiveformationcontrolforautonomoussurfacevesselswithprescribedtimeconvergence AT junli adaptiveformationcontrolforautonomoussurfacevesselswithprescribedtimeconvergence AT binghuang adaptiveformationcontrolforautonomoussurfacevesselswithprescribedtimeconvergence |