Paper Info
Title
Concise leader-follower formation control of underactuated unmanned surface vehicle with output error constraints
Abstract
In this paper, a concise leader-follower formation control approach is presented for a group of underactuated unmanned surface vehicle with dynamic system uncertainties and external environment disturbances, where the output errors are required to be within constraints. To settle the output error constraints, a standard barrier Lyapunov function (BLF) is incorporated into the backstepping control method. Furthermore, the "differential explosion" problem of virtual control laws is avoided by introducing the dynamic surface control. To estimate the unknown dynamic terms, an adaptive neural network is designed and a nonlinear disturbance observer is adopted to compensate for the approximation errors of neural network and ocean environment disturbances. Under the constraint of output error, the presented controller based on standard BLF has simpler structure and better control performance than depended on tan-type BLF. The presented controller can ensure that the formation errors converge to a small range around zero, while the output error constraint requirements are met. All signals in the closed-loop system are bounded, and the numerical simulation further shows the effectiveness of the presented control scheme.
Year
DOI
Venue
2022
10.1177/01423312211047104
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
Keywords
DocType
Volume
Adaptive control, autonomous vehicles, dynamic inversion control, Lyapunov, neural networks, nonlinear observer
Journal
44
Issue
ISSN
Citations 
5
0142-3312
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Meijiao Zhao100.34
Yan Peng222.39
Yueying Wang352.12
Dan Zhang4177.85
Jun Luo512321.77
Huayan Pu69023.66