A novel asymmetrical integral barrier Lyapunov function-based trajectory tracking control for hovercraft with multiple constraints

Fu, Mingyu; Dong, Lijing; Xu, Yujie; Bai, Dan

doi:10.1016/j.oceaneng.2022.112132

Cited by 22 publications

(10 citation statements)

References 28 publications

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“…The initial state of the ALESO, linear differentiator and RBFNN is set as zero. The initial state of the multi−hovercraft system is designed as ( ) 0 0 0, 0, 0, 90 The desired trajectory generated by a virtual leader consists of two straight lines and a circular arc [4].…”

Section: Simulationmentioning

confidence: 99%

“…As a high-performance vessel, a hovercraft can travel at high speed on particular surfaces, such as ice, swamps, beaches, grass, etc., which cannot be achieved by conventional surface vessels [1,2]. Currently, the research on hovercraft mainly focuses on the heading, rotation rate, and trajectory tracking control problem of a single hovercraft under constraint conditions [3][4][5][6][7]. However, a single hovercraft may face issues such as insufficient personnel and carrying resources when the task is more complex.…”

Section: Introductionmentioning

confidence: 99%

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Distributed Formation–Containment Tracking Control for Multi-Hovercraft Systems with Compound Perturbations

Fan,

Xu,

2024

JMSE

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Aiming at the problem of hovercraft formation–containment control with compound perturbations including model uncertainties and ocean disturbances, a distributed control algorithm for underactuated hovercraft formation–containment is proposed by combining adaptive linear extended state observer (ALESO) and radial basis function neural network (RBFNN). Firstly, ALESO and RBFNN are designed to estimate the ocean disturbances and model uncertainties, respectively, for dynamic compensation in the controller. Then, the auxiliary variables are introduced into the formation error function, and the lateral and longitudinal error stabilization is transformed into the design of longitudinal force and rotational torque by using the skew-symmetric matrix transformation, which solves the lateral underactuated problem of the hovercraft. Finally, the uniform ultimate boundedness of formation–containment cooperative errors is proved by the Lyapunov stability theory. Digital simulation verifies the effectiveness of the proposed method.

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Section: Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Distributed Formation–Containment Tracking Control for Multi-Hovercraft Systems with Compound Perturbations

Fan,

Xu,

2024

JMSE

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“…Similarly, the estimate of the overall uncertainty component of the system is ξ = [ξ u , ξ v , ξ r ] T . According to (22), e v is eventually converging to near the origin. The above equation is described as follows…”

Section: B Design and Analysis Of An Adaptive Sliding-mode Fault-tole...mentioning

confidence: 99%

“…Remark 7. An integral form of the barrier Lyapunov function is used in [22] and [16] , while a logarithmic form is used in [14] . These functions are too cumbersome in their derivation, and a novel (with a simple structure and effective) barrier Lyapunov function is chosen in this paper to limit the state errors.…”

Section: B Design and Analysis Of An Adaptive Sliding-mode Fault-tole...mentioning

confidence: 99%

“…From the special physical structure and complex operating environment of ACV point of view, a more suitable observer requiring less perturbative information is more meaningful. An extended state observer is designed in [22] to ensure the robustness of the system by considering the Trajectory tracking control system of ACV with unknown perturbations.…”

Section: Introductionmentioning

confidence: 99%

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Global Prescribed Performance-Based Fault-Tolerant Control for Trajectory Tracking of the ACV With Uncertainty

Bai

Deng

2023

IEEE Access

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This paper focuses on a fixed-time prescribed performance-based Fault-tolerant controller that guarantees the global performance for the Trajectory tracking control of the air cushion vehicle (ACV). In the presence of faults, time-varying parameters and environmental disturbances, the proposed control system in this paper has good robustness and control performance. Firstly, an integrated observer for disturbances and faults is proposed to suppress all uncertainties in the system. Then a novel prescribed performance function is designed that does not need to be constrained by the initial value of the target errors while ensuring that it has fixed-time convergence performance. Global prescribed performance control has the advantage of separating the error initial conditions from the prescribed performance function. At the same time, combined with the global sliding mode control method, the fast convergence and robustness of the whole system are guaranteed. Finally, the simulation results verify the effectiveness of the control system.INDEX TERMS Air cushion vehicle, prescribed performance control, trajectory tracking, faulttolerant control.

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Rules-reduced fuzzy neural network-based learning control for multiple constraints robots using online identification and compensation methods

Xu,

et al. 2024

Information Sciences

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A novel asymmetrical integral barrier Lyapunov function-based trajectory tracking control for hovercraft with multiple constraints

Cited by 22 publications

References 28 publications

Distributed Formation–Containment Tracking Control for Multi-Hovercraft Systems with Compound Perturbations

Distributed Formation–Containment Tracking Control for Multi-Hovercraft Systems with Compound Perturbations

Global Prescribed Performance-Based Fault-Tolerant Control for Trajectory Tracking of the ACV With Uncertainty

Rules-reduced fuzzy neural network-based learning control for multiple constraints robots using online identification and compensation methods

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