Back-Stepping Formation Control of Unmanned Surface Vehicles With Input Saturation Based on Adaptive Super-Twisting Algorithm

Abstract

Aiming at the formation control problem for unmanned surface vehicles under input overload and external disturbance, a leader-follower formation control law based on input saturation and the adaptive super-twisting algorithm was designed in this paper. Firstly, the mathematical model of underactuated unmanned surface vehicle formation based on the leader-follower method is established, and the virtual expected velocity is designed by the back-stepping method to improve the control accuracy of formation. Secondly, the parametric uncertainties and unknown external disturbances in the USV's dynamical model are compensated by the proposed adaptive super-twisting control laws. In addition, the input saturation function is added to the controller to avoid machine necrosis caused by input overload. Finally, Simulation results show that the controller can roughly keep the trajectory of the USV consistent with the expected trajectory and ensure that the input values are within the safe range, which proves the effectiveness of the method in this paper.INDEX TERMS unmanned surface vehicles, multi-agent system, super-twisting algorithm, input saturation.

Model-Parameter-Free Prescribed Time Trajectory Tracking Control for Under-Actuated Unmanned Surface Vehicles with Saturation Constraints and External Disturbances

“…Remark 3. The dead-zone-based model (14), as defined in [40], effectively captures the saturation limits in various scenarios. Moreover, the linearity of the system enables the application of robust and adaptive control techniques.…”

“…The work proposed an adaptive SMC strategy that provides asymptotic stability and tracking performance in finite time [13]. Moreover, other control methods such as back-stepping control [14,15] and SMC [16,17] also can be used in combination with PPC.…”