Neuroadaptive Distributed State Feedback Cooperative Control for Multiple Surface Vessels with Input Constraints

• Main Authors: Xia, Guoqing, Ren, Zheda, Sun, Chuang, Wang, Shuo
• Format: Conference Proceeding
• Language: English
• Subjects: auxiliary dynamic system; dynamic surface control; Filtering theory; Graph theory; Maximum likelihood detection; Multiple surface vessels; neuroadaptive estimator; Nonlinear filters; Sensitivity; State feedback; Uncertain systems
• ISSN: 2688-0938
• DOI: 10.1109/CAC53003.2021.9728364

In this paper, neuroadaptive distributed state feed-back cooperative control method for multiple surface vessels(MSVs) with the condition of position and velocity are known, unknown time-varying environmental disturbances, model parameter uncertainties and input saturation is proposed. Firstly, a neuroadaptive estimator is designed to estimate the composite disturbance composed of uncertain model parameters and time-varying environmental disturbance. Secondly, an auxiliary dynamic system is introduced to deal with the control input saturation constraints of the surface vessels. Thirdly, based on the dynamic surface control(DSC) technology, the state information of the adjacent surface vessels, the graph theory and the estimate value of the composite disturbance by the neuroadaptive estimator, a distributed state feedback controller for the MSVs under the input constraints is designed. In particular, a second-order linear tracking differentiator is introduced to solve the problem of noise sensitivity of a filter in the traditional DSC technology and to smooth the virtual control signal. Finally, through Lyapunov stability theory, it's proved that closed-loop system is stable.