Abstract
This article studies the fixed-time fuzzy formation tracking control problem for multiple unmanned surface vehicle (USV) systems with intermittent actuator faults. Since each USV is subject to unknown motion dynamics and the external disturbances. The fuzzy state observers are developed to estimate the positions and velocity in multiple USV systems, and disturbance observers are developed to estimate the external disturbances, and fuzzy logic systems are utilized to identify the unknown motion dynamics. Then, to compensate for the influence of intermittent actuator faults, the novel fixed-time adaptive output-feedback formation fault-tolerant controllers are constructed by constructing the integral type Lyapunov function and co-designing the last virtual controller. The presented formation control method can guarantee all the signals in multiple USV systems are bounded in fixed-time. Finally, simulation results and comprehensive comparisons are provided to verify the effectiveness of the presented formation control method.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
