Guaranteed performance design for distributed bounded containment control of networked uncertain underactuated surface vessels

Yoo, Sung Jin; Park, Bong Seok

doi:10.1016/j.jfranklin.2016.12.008

Cited by 76 publications

(35 citation statements)

References 40 publications

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“…Choose the following performance function:

k_{i} = false(k_{i 0} - k_{i \infty} false) \exp false(- μ_{i} t false) + k_{i \infty}, i = x, y, ψ, u, v, r,

where k i 0 , k i ∞ , and μ i are positive design parameters with k i 0 > k i ∞ ; k i ∞ represents the maximum admissible size of the error e i at the steady state; and μ i denotes the minimum allowable convergence rate. The maximum overshoot of e i is predetermined less than c i k i 0 , i = x , y , ψ .…”

Section: Formation Control Designmentioning

confidence: 99%

“…Select proper parameters c i and k i 0 such that

- {\underline{k}}_{i} false(0 false) < e_{i} false(0 false) < {\overset{k}{true}}_{i} false(0 false), i = x, y, ψ, (||, e_{j} false(0 false)) < k_{j} false(0 false), j = u, v, r .

…”

Section: Formation Control Designmentioning

confidence: 99%

“…Therefore, both the transient and steady-state performance of system output tracking can be predefined by (17) and (21). Select proper parameters c i and k i0 such that [20][21][22][23][24]…”

Section: Controller Designmentioning

confidence: 99%

“…By virtue of (22), the parameter selection of control design depends on the initial condition, such that the aforementioned controller and the controller designed in other works [20][21][22][23][24] are online, and the established result is semiglobal. In this section, a modification technique with a technical lemma is adopted to produce an offline controller that guarantees global stability.…”

Section: Path-following Control Designmentioning

confidence: 99%

“…In addition, owing to the existence of approximation errors, only uniform ultimate boundedness stability was guaranteed, and the tracking accuracy was not prior known. Recently, a series of elegant control algorithms were derived by other works, which can achieve predefined transient and steady‐state tracking performance. Unfortunately, the parameter selection of controllers relies on the initial condition of closed‐loop systems, ie, the control design is online.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Zhang

Yang

2018

Intl J Robust & Nonlinear

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Summary This paper concentrates on the leader‐follower formation control problem for marine surface vessels with unknown nonlinear dynamics and actuator faults. The unknown inertia matrix and multiplicative fault render the existing methods infeasible. To solve this problem, a low‐complexity prescribed performance controller is first proposed without the help of auxiliary neural/fuzzy systems or adaptive mechanisms. A modification technique is further adopted to relax the initial condition, such that global closed‐loop stability is guaranteed. Finally, simulation results illustrate the above theoretical results.

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“…Choose the following performance function:

k_{i} = false(k_{i 0} - k_{i \infty} false) \exp false(- μ_{i} t false) + k_{i \infty}, i = x, y, ψ, u, v, r,

Section: Formation Control Designmentioning

confidence: 99%

“…Select proper parameters c i and k i 0 such that

- {\underline{k}}_{i} false(0 false) < e_{i} false(0 false) < {\overset{k}{true}}_{i} false(0 false), i = x, y, ψ, (||, e_{j} false(0 false)) < k_{j} false(0 false), j = u, v, r .

…”

Section: Formation Control Designmentioning

confidence: 99%

Section: Controller Designmentioning

confidence: 99%

Section: Path-following Control Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Zhang

Yang

2018

Intl J Robust & Nonlinear

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Range observer‐based formation control for heterogeneous spatial underactuated vehicle networks

Wang

Nersesov

Ashrafiuon

2023

Adaptive Control & Signal

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In this work, we solve the distributed formation control problem for heterogeneous spatial underactuated vehicle networks subject to switching topologies.We consider the spatial rigid body model of underwater and aerial vehicles with one translational actuator for propulsion and three rotational actuators, without any simplification. A distributed finite-time sliding mode observer is designed to estimate the ranges between vehicles based on the bearing angles, and thus, the control design does not require relative position or distance measurements.A coordinate transformation is proposed to define continuous reference velocity trajectories under switching topologies. Then, based on the cascade structure, a distributed formation protocol is presented which guarantees the global asymptotic convergence for the closed-loop system. The formation controller has a simple structure, requires only neighbor-to-neighbor information exchange, and all the measurements may be obtained using simple onboard sensors. Numerical simulations for a group of heterogeneous spatial underactuated vehicles including autonomous underwater vehicles and quadrotors are presented.

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Disturbance observer based adaptive heading control for unmanned surface vehicle with event‐triggered and signal quantization

Ma,

Li,

Ning

et al. 2024

Adaptive Control & Signal

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SummaryThis article delves into the adaptive heading tracking control of unmanned surface vehicle (USV) by incorporating an event‐triggered mechanism and signal quantization. The primary objective is to save communication resources while alleviating the burden of signal transmission. To address time‐varying external perturbations inherent in the control system, a disturbance observer is employed for precise estimation. Additionally, a linear model is introduced to delineate the procedure of quantization. By furnishing the controller with purpose‐designed quantized control input, the adaptive tracking control system can effectively track desired input without requiring any prior knowledge of the quantized parameters. The article substantiates its claims by demonstrating the system's stability in the absence of quantization considerations and the bounded nature of quantization errors through a series of presented lemmas. Further, the stability of the USV heading control system, integrated with an event‐triggered mechanism and signal quantization, is proofed in accordance with Lyapunov stability theory. Finally, the proposed strategy's efficacy and practical applicability are validated through experimental simulations.

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Guaranteed performance design for distributed bounded containment control of networked uncertain underactuated surface vessels

Cited by 76 publications

References 40 publications

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Range observer‐based formation control for heterogeneous spatial underactuated vehicle networks

Disturbance observer based adaptive heading control for unmanned surface vehicle with event‐triggered and signal quantization

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