Platoon Formation Control With Prescribed Performance Guarantees for USVs

This paper studies the platoon formation control problem for unmanned surface vehicles, in the presence of modeling uncertainties and time-varying external disturbances. The control objective is to make the vehicular platoons proceed along a given trajectory while maintaining a desired line-of-sight...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2018-05, Vol.65 (5), p.4237-4246
Main Authors: Dai, Shi-Lu, He, Shude, Lin, Hai, Wang, Cong
Format: Article
Language:English
Subjects:
Adaptive control
Collision avoidance
Collision dynamics
Computer simulation
connectivity maintenance
Control stability
Damping
Disturbance observers
formation control
Line of sight
Maintenance engineering
Neural networks
Platooning
prescribed performance
Surface vehicles
Surges
Transient analysis
Transient performance
Uncertainty
unmanned surface vehicles (USVs)
Unmanned vehicles
Vehicle dynamics
Vehicles
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Summary:This paper studies the platoon formation control problem for unmanned surface vehicles, in the presence of modeling uncertainties and time-varying external disturbances. The control objective is to make the vehicular platoons proceed along a given trajectory while maintaining a desired line-of-sight (LOS) range between each vehicle and its predecessor. To provide transient performance specifications on formation errors, including LOS range and angle errors, we enforce prescribed performance guarantees in the control design. The prescribed performance guarantees mean that formation errors evolve always within the predefined regions that are bounded by exponentially decaying functions of time. Using prescribed performance control methodology, neural network approximation, disturbance observers, dynamic surface control technique, and Lyapunov synthesis, we propose an adaptive formation control that ensures internal stability of closed-loop systems with guaranteed prescribed performance. Meanwhile, both collision avoidance and connectivity maintenance between two consecutive vehicles are guaranteed during the whole operation. The proposed formation control is decentralized in the sense that the control action on each vehicle depends only on information from its immediate predecessor. Simulation results demonstrate the performance of the proposed control.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2017.2758743