Jixiang Li, Tao Liu, Yuhang Liu, Tianhang Guan, Zesong Zeng
{"title":"Distributed observer-based position-based fuzzy formation control for unmanned surface vessels with input saturation","authors":"Jixiang Li, Tao Liu, Yuhang Liu, Tianhang Guan, Zesong Zeng","doi":"10.1177/14750902241261121","DOIUrl":null,"url":null,"abstract":"In this article, a control issue is investigated for achieving distributed formation forming and tracking of multiple unmanned surface vessels (USV) subjected to unknown model dynamics and external disturbance. Additionally, the constraints posed by the lack of velocity measurements and input saturation are considered for each USV. For this purpose, two types of distributed position-based control schemes are presented to constitute formation shape and track target trajectory by steering multiple USVs. The first control scheme is based on acquiring absolute position measurements and communication data, while the second control scheme relies on relative position measurements. In the two aforementioned control schemes, two different types of observers are scheduled to provide essential data support for the corresponding controllers. Then, the unknown data that include unknown model dynamics and external disturbance are approximated by a fuzzy logic system and adaptive laws, respectively. In addressing the issue of controller input saturation, a smooth function and auxiliary system are imported to eliminate the effect of actuator saturation. Finally, suitable Lyapunov functions are selected to analyze the theoretical feasibility of the two designed schemes. Corresponding digital simulations are exhibited to further examine the robustness and effectiveness of the designed control schemes.","PeriodicalId":20667,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment","volume":null,"pages":null},"PeriodicalIF":1.5000,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1177/14750902241261121","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, MARINE","Score":null,"Total":0}
引用次数: 0
Abstract
In this article, a control issue is investigated for achieving distributed formation forming and tracking of multiple unmanned surface vessels (USV) subjected to unknown model dynamics and external disturbance. Additionally, the constraints posed by the lack of velocity measurements and input saturation are considered for each USV. For this purpose, two types of distributed position-based control schemes are presented to constitute formation shape and track target trajectory by steering multiple USVs. The first control scheme is based on acquiring absolute position measurements and communication data, while the second control scheme relies on relative position measurements. In the two aforementioned control schemes, two different types of observers are scheduled to provide essential data support for the corresponding controllers. Then, the unknown data that include unknown model dynamics and external disturbance are approximated by a fuzzy logic system and adaptive laws, respectively. In addressing the issue of controller input saturation, a smooth function and auxiliary system are imported to eliminate the effect of actuator saturation. Finally, suitable Lyapunov functions are selected to analyze the theoretical feasibility of the two designed schemes. Corresponding digital simulations are exhibited to further examine the robustness and effectiveness of the designed control schemes.
期刊介绍:
The Journal of Engineering for the Maritime Environment is concerned with the design, production and operation of engineering artefacts for the maritime environment. The journal straddles the traditional boundaries of naval architecture, marine engineering, offshore/ocean engineering, coastal engineering and port engineering.