Distributed Neurodynamics-Based Backstepping Optimal Control for Robust Constrained Consensus of Underactuated...

Area of Science:

• Robotics
• Control Systems
• Marine Engineering

Background:

• Formation tracking control for underactuated underwater vehicles (UUVs) in 3D space presents significant challenges.
• Existing methods often struggle with nonholonomic constraints and underactuation.

Purpose of the Study:

• To develop a novel consensus-based optimal coordination protocol and a robust controller for UUV fleet formation tracking.
• To address nonholonomic constraints and underactuation issues in UUV control.

Main Methods:

• A hierarchical control architecture is employed.
• The top layer uses spherical coordinate transformation for constraint handling and distributed optimal motion coordination.
• The lower-level employs a neurodynamics-based robust backstepping controller, avoiding the 'explosion of terms' issue.

Main Results:

• Achieved optimal formation tracking for the UUV fleet while satisfying constraints.
• Successfully dealt with underactuation and unknown disturbances.
• Demonstrated improved control activities and avoided conventional backstepping issues.

Conclusions:

• The proposed hierarchical control strategy ensures robust constrained formation tracking for UUV fleets.
• The system stability is proven, with all UUV states uniformly ultimately bounded under disturbances.
• Simulation results validate the superiority and effectiveness of the developed protocol.