Journal
JOURNAL OF MARINE SCIENCE AND ENGINEERING
Volume 10, Issue 11, Pages -Publisher
MDPI
DOI: 10.3390/jmse10111782
Keywords
unmanned surface vehicles; formation control; graph theory; adaptive second-order fast sliding mode
Categories
Funding
- University Synergy Innovation Program of Anhui Province
- [GXXT-2021-026]
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This paper addresses the formation control of unmanned surface vehicles (USVs) considering communication topology, dynamic model uncertainties, environmental disturbances, and a fast convergence rate. Graph theory is introduced to describe the connective relationships among USVs and establish generalized formation errors. A second-order fast nonsingular terminal sliding-mode control (SOFNTSMC) is designed to ensure quick and chatter-free convergence of the system. An adaptive update law is developed to estimate model uncertainties and external disturbances without requiring the boundary information of system uncertainties. By applying the adaptive SOFNTSMC (ASOFNTSMC) and graph theory, a distributed control is developed for each USV to achieve the desired formation pattern. Simulation results and comparisons demonstrate the effectiveness of the proposed method.
The formation control of unmanned surface vehicles (USVs) while considering communication topology, dynamic model uncertainties, environmental disturbances, and a fast convergence rate is addressed in this paper. First, graph theory is introduced to describe the connective relationships and establish generalized formation errors among USVs. Then, a second-order fast nonsingular terminal sliding-mode control (SOFNTSMC) is designed to guarantee that the system converges quickly and without chatter. An adaptive update law is designed in order to estimate the model uncertainties and external disturbances without the requirement of the boundary information of the system uncertainties. With the application of the adaptive SOFNTSMC (ASOFNTSMC) and graph theory, a distributed control is developed for every USV to perform the desired formation pattern. Finally, the results of simulations and comparisons demonstrate the effectiveness of the proposed method.
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