Saturated approximation-free prescribed performance trajectory tracking control for autonomous marine surface vehicle

Zhu, Cheng; Zeng, Jiangfeng; Huang, Bing; Su, Yumin; Su, Ziyi

doi:10.1016/j.oceaneng.2021.109602

Cited by 22 publications

(3 citation statements)

References 42 publications

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“…During the past few decades, the cooperative control of multiple unmanned surface vehicles system has attracted widespread attention due to its promising application potential in various ocean missions, such as environmental monitoring, resource transportation, military tasks, and disaster rescue 1,2 . So far, fruitful research results have been obtained for the cooperative control problem, such as area coverage 3 , flocking 4 , rendezvous 5 , and containment control 6 .…”

Section: Introductionmentioning

confidence: 99%

Fully distributed formation-containment control for multiple unmanned surface vehicles with intermittent dynamic event-triggered protocols

Zhang

Huang

Zhou

et al. 2023

Preprint

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This paper investigates the layered formation-containment control problem for multiple unmanned surface vehicles (USVs) with intermittent dynamic event-triggered protocols. Initially, the formation tracking controllers are designed for leaders to form the desired formation configuration along the reference trajectory in the first layer. In the proposed controllers, the intermittent framework is introduced to guarantee the stability of systems subject to inevitable factors including cyber-attacks or equipment constraints. Moreover, under the above intermittent framework, the dynamic event-triggered mechanism (DETM) is adopted to reduce the update frequency of control signals with positive minimum inter-event time (MIET) guarantees. Then, the containment controllers are developed for followers to converge to the convex hull spanned by leaders in the second layer. Besides, to remove the controllers’ dependency on global information, fully distributed thought is adopted in both layers. Finally, the theoretical analysis and simulation results are provided to evaluate the effectiveness of the proposed control scheme.

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Section: Introductionmentioning

confidence: 99%

Fully distributed formation-containment control for multiple unmanned surface vehicles with intermittent dynamic event-triggered protocols

Zhang

Huang

Zhou

et al. 2023

Preprint

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“…Though effective, most of these results are only applicable for multi‐agent systems. In other words, they cannot be directly utilized for marine vehicles, which contains complicated nonlinear model dynamics 31‐33 . For the best knowledge of authors, formation maneuver control for multiple USV systems is still an open problem that should be solved.…”

Section: Introductionmentioning

confidence: 99%

Distributed observer based event‐triggered affine formation maneuver control for underactuated surface vessels with positive minimum inter‐event times

Zhou

Huang

Mao

et al. 2022

Intl J Robust & Nonlinear

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This article investigates the distributed event‐triggered affine formation maneuver control problem for multiple underactuated surface vessel (USV) systems with positive minimum inter‐event times (MIET). Unlike common formation control methods that only ensure the formation system to keep a fixed geometric shape, the proposed scheme enables multiple USVs maneuver as a group in translation, shearing, rotation, or combinations of them. The proposed control strategy is composed of two parts. First, a distributed event‐triggered observer (DETO) is proposed to observe the time‐varying target formation under the lack of global leaders' information and govern the inter‐vessel communications among the formation group. Besides, the MIET of the designed communication strategy is proved to be strictly positive and computable from formation configurations and control parameters. With these guarantees, the maximum communication frequency can be known in advance. Then, upon the DETO signals, the adaptive local tracking controller is subsequently synthesized for each vessel to realize the target formation track. Rigorous theoretical analysis and simulation results are finally conducted to verify the validness and effectiveness of the proposed algorithm.

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“…An effective solution strategy called the prescribed performance constraint method was proposed in [23][24][25][26], which is easily designed a predefined prescribed performance bound to characterize the convergence rate and the maximum overshoot of tracking error such that the desired transient performance can be achieved. Based on the prescribed performance strategy, many nonlinear control methods have also been extended and applied to various nonlinear systems [27][28][29][30][31][32][33]. It is worth mentioning that the above-mentioned control methods are derived in the sense of Lyapunov asymptotic stability, which means that the system error reaches a residual set in infinite time rather than fixed time, and moreover, it is not easy to calculate the residual set size due to unknown bounded terms.…”

Section: Introductionmentioning

confidence: 99%

Prescribed Performance Adaptive Control for a Nonlinear Aeroelastic System with Input Constraint

Gao

Zhang

et al. 2022

International Journal of Aerospace Engineering

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A constrained prescribed performance compensation controller is proposed for a nonlinear aeroelastic system in the presence of wind gust, system uncertainties, and input saturation. To deal with the effects of the nonsmooth saturation nonlinearity, an approximate saturation function is introduced into the controller design, which can smoothly approximate the real saturation with arbitrarily prescribed precision. Specifically, by designing the prescribed performance function, a fixed-time control framework is designed to ensure that the closed-loop system has the prescribed tracking performance. The designed control algorithm can not only compensate the adverse effect caused by disturbances and uncertainties but also restrain the excessive amplitude of control input. Finally, the stability analysis shows that all the signals in the closed-loop system are semiglobally uniformly ultimately bounded via the Lyapunov stability analysis method, and simulation results are presented to demonstrate the feasibility and effectiveness of the proposed method.

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Saturated approximation-free prescribed performance trajectory tracking control for autonomous marine surface vehicle

Cited by 22 publications

References 42 publications

Fully distributed formation-containment control for multiple unmanned surface vehicles with intermittent dynamic event-triggered protocols

Fully distributed formation-containment control for multiple unmanned surface vehicles with intermittent dynamic event-triggered protocols

Distributed observer based event‐triggered affine formation maneuver control for underactuated surface vessels with positive minimum inter‐event times

Prescribed Performance Adaptive Control for a Nonlinear Aeroelastic System with Input Constraint

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