Abstract
Vessel train formation as a new trend has been raised in cooperative control for multiple vessels. This paper addresses formation control design for a group of unmanned surface vehicles platoon considering input delay. To account for connectivity-preserving and collision-avoiding, Barrier Lyapunov function is incorporated into the constraints design of line-of-sight range and bearing. To alleviate the computational burden, neural dynamic model is employed to simplify the control design and smooth the input signals. Besides, input control arising from time delay due to mechanisms and communication is considered in the marine vessels. Within the framework of the backstepping technique, distributed coordination is accomplished in finite time and the uniformly ultimately boundness of overall system is guaranteed via rigorous stability analysis. Finally, the simulation is performed to verify the effectiveness of the proposed control method.
Highlights
The presence of input time delay is a common problem in practical formation systems, which may cause poor performance and instability of the control system
Robust synchronization of multiple marine vessels was designed by introducing a constant time delay to the communication process[22]
Combined with tracking errors limitations, the nonlinear system with input time delay is converted into a delay-free system based on Artstein model
Summary
The connectivity preservation and collision prevention are satisfied on the LOS range and bearing angle schemes between two consecutive MSVs. Lemma 1 24 For any constant x ∈ Rn , there exists a constant k satisfying |x| < k such that k2. Lemma 2 25 For bounded initial conditions, if there exists a continuous and positive definite Lyapunov function V(x) satisfying v1(||x||) ≤ V (x) ≤ v2(||x||) , such that V (x) ≤ −αV (x) + β , where v1 , v2 : Rn → R are class K functions and α, β > 0 , the solution x(t) is uniformly bounded. To describe the behavior of individual neuron, Hodgkin and Huxley firstly proposed a membrane model based on extensive experiments[26]. The model on the voltage characteristic of a cell membrane is constructed as
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