Predictor-based neural dynamic surface control for distributed formation tracking of multiple marine surface vehicles with improved transient performance

Abstract

In this paper, we investigate the distributed formation tracking problem of multiple marine surface vehicles with model uncertainty and time-varying ocean disturbances induced by wind, waves, and ocean currents. The objective is to achieve a collective tracking with a time-varying trajectory, which can only be accessed by a fraction of follower vehicles. A novel predictor-based neural dynamic surface control design approach is proposed to develop the distributed adaptive formation controllers. We use prediction errors, rather than tracking errors, to construct the neural adaptive laws, which enable the fast identification of the vehicle dynamics without incurring high-frequency oscillations in control signals. We establish the stability properties of the closed-loop network via Lyapunov analysis, and quantify the transient performance by deriving the truncated $L_2$ norms of the derivatives of neural weights, which we demonstrate to be smaller than the classical neural dynamic surface control design approach. We also extend the above result to the distributed formation tracking using the relative position information of vehicles, and the advantage is that the velocity information of neighbors and leader are required. Finally, we give the comparative studies to illustrate the performance improvement of the proposed method.