Abstract
This paper studies the velocity free platoon formation control for unmanned surface vehicles (USVs) with the model uncertainties and output constraints. Firstly, a reconstruction module is designed to estimate the velocity of the leader, which will be completed in finite time and will reduce the communication burden. Along with this, the model-based control combined with the symmetric barrier Lyapunov functions (BLF) method is designed to guarantee the output constraints. Then, the model uncertainties of the USV are approximated by the neural networks (NNs) and the NN BLF control is developed. To achieve the desired formation pattern, the constraints, including collision avoidance and communication distance, are under consideration. Finally, we proved that our system is semiglobally uniformly ultimately bounded (SGUUB) and verified the effectiveness of this approach by simulations.
Highlights
In recent years, unmanned surface vehicles (USVs) formation control has attracted large amounts of attention in the control science and engineering areas for different purposes such as mine clearance, patrol, investigation, transportation of strategic materials, coordinated operations, target rounding and marine science applications [1,2,3,4].The objectives of formation control are to achieve the desired distance and orientation among multiple agents
Motivated by the above research and the property of barrier Lyapunov functions (BLF), a model-based formation control under the consideration of collision avoidance and effective communication distance constraints is proposed for USV, different from [6,24]
A BLF is used to tackle the problem of multiple USV constraints ensuring that the satisfactory formation performance with collision avoidance distance and connectivity constraints are never violated during the whole operation
Summary
USV formation control has attracted large amounts of attention in the control science and engineering areas for different purposes such as mine clearance, patrol, investigation, transportation of strategic materials, coordinated operations, target rounding and marine science applications [1,2,3,4]. Due to the reason of economy or efficiency for the formation control problem, only the position and heading can be obtained by the follower and the velocity information is unavailable This implies that a practical control method which is less demanding for communications should be developed. Motivated by the above research and the property of BLF, a model-based formation control under the consideration of collision avoidance and effective communication distance constraints is proposed for USV, different from [6,24]. A BLF is used to tackle the problem of multiple USV constraints ensuring that the satisfactory formation performance with collision avoidance distance and connectivity constraints are never violated during the whole operation. An adaptive NN control combined with a symmetric BLF is developed for autonomous USV to deal with the unmodeled dynamics and parameter uncertainties caused by hydrodynamic damping terms.
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