Journal
ISA TRANSACTIONS
Volume 134, Issue -, Pages 16-27Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2022.07.033
Keywords
Prescribed time; Leader-follower formation; Surface vehicles; Distributed observer; Input saturation
Ask authors/readers for more resources
In this paper, a solution is proposed for the prescribed-time leader-follower formation control problem in surface vehicles (SVs) that suffer from input saturation and unknowns including uncertain dynamics and external disturbances. A distributed prescribed-time observer is introduced to estimate the states of the leader based on neighboring vehicles' information. The saturation errors and system unknowns are observed by a reduced-order prescribed-time estimator. Furthermore, a time scale transformation function based prescribed-time prescribed performance function is proposed to improve the transient performance of formation errors and satisfy formation error constraints.
In this paper, the prescribed-time leader-follower formation control problem is solved for surface vehicles (SVs) suffering from input saturation and unknowns including uncertain dynamics and external disturbances. Based on the information of neighboring vehicles, a distributed prescribed-time observer for estimating states of the leader is proposed. By virtue of input saturation, the saturation errors and system unknowns are observed by a reduced-order prescribed-time estimator. Moreover, to realize the satisfactory formation error constraints, a time scale transformation function based prescribed-time prescribed performance function is proposed, together with error transformations, the transient performance of formation errors is improved. Lyapunov stability theorem and backstepping method prove that the closed-loop system is prescribed-time stable. Simulations are given to illustrate the effectiveness of proposed theoretical results. (c) 2022 ISA. Published by Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available