Leader–Follower Formation Tracking Control of Underactuated Surface Vehicles Based on Event-Trigged Control

نویسندگان

چکیده

This paper investigates the leader–follower formation tracking control of underactuated surface vessels (USVs) with input saturation. Each vessel is subject to uncertainties induced by model and environmental disturbances. First, an event-triggered extended-state observer (ETESO) used recover velocity, yaw rate uncertainties. Then, estimator estimate velocity leader. An controller (ETC) constructed based on estimator, extra variables. Specifically, variables are solve problems underactuation Stability analysis system conducted prove that all signals bounded. Simulations demonstrate ETESO can accurately uncertainties, rate, ETC largely reduce action times actuator.

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Tracking Control of Underactuated Surface Vessels Using Hybrid Control Methods

Tracking Control of Underactuated Surface Vessels Using Hybrid Control Methods Yu Tian Advisor: University of Guelph, 2016 Prof. Simon X. Yang In this thesis, two intelligent control systems are developed for tracking control of an underactuated surface vessel (USV). The studied USV is controlled with uncertain parameters, such as the disturbances from the ocean current. In the first part of th...

متن کامل

Formation Control of Underactuated Marine Vehicles with Communication Constraints

In this paper, we propose a nonlinear coordination control scheme for formation control of a group of underactuated marine vehicles with communication topology constraints. In particular, we propose decentralized control laws for coordinated path following of marine vehicles with sparse communication networks. The topology of the communication network is captured in the framework of graph theor...

متن کامل

Adapt ive Tracking Control of Underactuated Surface Vessels I

In this paper, we design a continuous, t ime-varying tracking controller for an underactuated surface vessel in the presence of uncertainty associated with the hydrodynamic damping coefficients. A Lyapunov-based approach is used to ensure that the posi t ion/orientat ion tracking error is ultimately confined to a ball that can be made arbitrarily small. The result is achieved via the judicious ...

متن کامل

Global Tracking Control of Underactuated Surface Ships in Body Frame

A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body. The control development is based on Lyapunov’s direct method and backstepping technique, and utilizes several properties of ship dynamics and their interconnected structure. Nu...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Applied sciences

سال: 2023

ISSN: ['2076-3417']

DOI: https://doi.org/10.3390/app13127156