Concise Adaptive Fault-Tolerant Formation Scaling Control for Autonomous Vehicles with Bearing Measurements

In the bearing-based formation control of autonomous surface vehicles, the scaling maneuver capability is greatly limited when faced with actuator faults and uncertainties. Under these circumstances, to better realize the formation scaling maneuver, a concise adaptive fault-tolerant formation scalin...

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Bibliographic Details
Published in:Journal of marine science and engineering 2024-08, Vol.12 (8), p.1407
Main Authors: Lu, Yu, Sun, Ruisheng
Format: Article
Language:English
Subjects:
Actuators
adaptive
Autonomous surface vehicles
Autonomous vehicles
bearing
Bearing (direction)
Control stability
Controllers
Design
Fault tolerance
fault-tolerant
formation control
Maneuvers
Methods
Optimization
Parameters
Scaling
Stability analysis
Surface vehicles
Tracking errors
Vehicles
Velocity
Yaw
Yawing
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Summary:In the bearing-based formation control of autonomous surface vehicles, the scaling maneuver capability is greatly limited when faced with actuator faults and uncertainties. Under these circumstances, to better realize the formation scaling maneuver, a concise adaptive fault-tolerant formation scaling control scheme is proposed for autonomous vehicles with bearing measurements. By means of dynamic surface control, parameter integration and the adaptive technique, the tedious derivative calculation of virtual control signals is avoided and the prescribed formation scaling maneuver is achieved without knowing specific information about the faults and models. It is shown that both yaw angle tracking errors and bearing errors are able, ultimately, to be made uniformly bounded using this scheme. Meanwhile, only one control parameter and one adaptive parameter need to be updated during the formation scaling process. Stability analysis and comparative results are provided to verify the validity of the developed scheme.
ISSN:2077-1312
2077-1312
DOI:10.3390/jmse12081407