Adaptive Leader-Follower Formation Control of Under-actuated Surface Vessels with Model Uncertainties and Input Constraints

Applied Sciences

Hye-Jin Kim¹  Alireza Riahifard²  SeyyedMohammad Hosseini Rostami³  Jin Wang⁴ 

[1] Communication Engineering, Changsha University of Science &Department of Electrical and Computer Engineering, Science and Research Branch, Islamic Azad University, Tehran 1477893855, Iran;Department of Electrical and Computer Engineering, Shiraz University of Technology, Shiraz 7155713876, Iran;;Hunan Provincial Key Laboratory of Intelligent Processing of Big Data on Transportation, School of Computer &

关键词: autonomous surface vehicles;    adaptive robust control;    model uncertainty;    leader-follower formation;   

DOI  :  10.3390/app9183901

来源: DOAJ

【 摘 要 】

This paper deals with the leader-follower formation control of underactuated autonomous surface vehicles in the presence of model uncertainties and input constraints. In a leader-follower formation, an autonomous surface vehicle (ASV) called leader tracks a pre-described trajectory and other ASVs called followers that are controlled to follow the leader with a desired distance and desired relative bearing. To this end, some adaptive robust techniques are adopted to guarantee the robustness of the closed-loop system against model uncertainties, external disturbances, and input saturation constraints. Based on the Lyapunov synthesis, it is proven that with the developed formation controllers, the closed-loop system is stable and all the formation errors converge to a small neighborhood of zero. Simulation results demonstrate the effectiveness of the proposed method.

【 授权许可】

Unknown