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

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 ca...

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Bibliographic Details
Published in:Applied sciences 2019-09, Vol.9 (18), p.3901
Main Authors: Riahifard, Alireza, Hosseini Rostami, Seyyed Mohammad, Wang, Jin, Kim, Hye-Jin
Format: Article
Language:English
Subjects:
adaptive robust control
autonomous surface vehicles
Closed loop systems
Constraint modelling
Controllers
Design
Feedback control
leader-follower formation
model uncertainty
Neural networks
Surface vehicles
Uncertainty
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Summary: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.
ISSN:2076-3417
2076-3417
DOI:10.3390/app9183901