Abstract
In this paper, a formation tracking problem with collision avoidance is investigated for underactuated surface vehicles (USVs) with actuator magnitude and rate saturations. The USVs are subject to model uncertainties and external disturbances. A nonlinear extended state observer (NESO) is used to recover the linear velocity and yaw rate as well as unknown uncertainties and disturbances. A distributed control law is designed by artificial potential functions (APFs), the NESO and a backstepping technique. The APFs combined with a strategy are employed to achieve collision avoidance. Additional controllers are employed to deal with the underactuated problem, actuator magnitude and rate saturations. The stability of formation control system and simulation results are performed to illustrate the effectiveness of the proposed strategy.
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