Abstract
The formation control issue for a group of underactuated unmanned surface vehicles (USVs) is discussed in the paper, and a staged finite‐time control strategy for the USVs is proposed. Firstly, we try to steer each USV to its own starting point in the formation for a limited time, under the initial condition that each of these vehicles is parked at random. To deal with the nonholonomic behavior of the system, the dynamics of the USV is transformed into cascade systems. Then, the finite‐time controller is designed for each vehicle based on homogeneity theory. After each USV reaches its own starting point with desired orientation, the model of the vehicle is decomposed into two subsystems under the Serret‐Frenet frame. In order to maintain the formation pattern, two finite‐time distributed controllers are developed for the surge subsystem and the yaw subsystem, respectively. The settling time for the staged control strategy is limited. Numerical simulations are carried out to illustrate the effectiveness of the proposed formation control strategy.
Highlights
Over the last decade, a great attention has been paid by scholars on unmanned surface vehicles (USVs), which can be used to perform various tasks, such as marine surveillance, oil spill collection, environmental monitoring, bathymetric mapping, and marine floor investigation [1].ese tasks are usually complexity and onerous, which are difficult to do by a single vehicle
Most existing USVs are typical underactuated systems, whose number of actuators is fewer than their degrees of freedom (DOF). e trajectory tracking control of the underactuated USV is studied in [2, 3], and the virtual target is adopted to generate the reference trajectory. e path following of the underactuated USV is usually addressed by introducing the SerretFrenet frame and global coordinate transformation [4, 5]
In [19], auxiliary dynamic systems and disturbance observers are designed to deal with input saturations and disturbances respectively, and a robust controller is developed for time-varying formation control of underactuated autonomous underwater vehicles (AUVs). e fault tolerant control problem in the leader-follower formation of USVs is considered in [20], while both parametric and nonparametric system uncertainties are discussed
Summary
A great attention has been paid by scholars on unmanned surface vehicles (USVs), which can be used to perform various tasks, such as marine surveillance, oil spill collection, environmental monitoring, bathymetric mapping, and marine floor investigation [1]. In [19], auxiliary dynamic systems and disturbance observers are designed to deal with input saturations and disturbances respectively, and a robust controller is developed for time-varying formation control of underactuated AUVs. e fault tolerant control problem in the leader-follower formation of USVs is considered in [20], while both parametric and nonparametric system uncertainties are discussed. Another popular method for USV formation control is based on the graph theory, which is proposed to settle the consensus problem of multiagents.
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