期刊
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
卷 69, 期 12, 页码 14749-14764出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2020.3039220
关键词
Mathematical model; Actuators; Lyapunov methods; Adaptation models; Heuristic algorithms; Closed loop systems; Backstepping; Backstepping control; formation control; fuzzy logic system; input constraints; unknown model nonlinearity; unmanned surface vehicle
资金
- National Natural Science Foundation of China [61703275, 61673178, 61973110]
- National Key R&D Program of China for International S&T Cooperation Projects [2019YFE0118700]
- Hunan Young Talents Science and Technology Innovation Project [2020RC3048]
- National Research Foundation of Korea (NRF) - Korea government (Ministry of Science and ICT) [NRF-2020R1A2C1005449]
In this article, the formation control of unmanned surface vehicles (USVs) is addressed considering actuator saturation and unknown nonlinear items. The algorithm can be divided into two parts, steering the leader USV to trace along the desired path and steering the follower USV to follow the leader in the desired formation. In the proposed formation control framework, a virtual USV is first constructed so that the leader USV can be guided to the desired path. To solve the input constraint problem, an auxiliary is introduced, and the adaptive fuzzy method is used to estimate unknown nonlinear items in the USV. To maintain the desired formation, the desired velocities of follower USVs are deduced using geometry and Lyapunov stability theories; the stability of the closed-loop system is also proved. Finally, the effectiveness of the proposed approach is demonstrated by the simulation and experimental results.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据