Cooperative Time-Varying Formation Fuzzy Tracking Control of Multiple Heterogeneous Uncertain Marine Surface Vehicles...

Area of Science:

• Robotics and Control Systems
• Marine Engineering
• Artificial Intelligence

Background:

• Marine surface vehicles require advanced control for cooperative tasks.
• Heterogeneous vehicle clusters face challenges with unknown nonlinearities and actuator failures.
• Achieving dynamic, time-varying formations is crucial for coordinated operations.

Purpose of the Study:

• To develop a cooperative control scheme for heterogeneous marine vehicles.
• To address challenges of unknown nonlinearity and actuator failures in formation control.
• To achieve asymptotically stable tracking and time-varying formation control.

Main Methods:

• A distributed time-varying formation observer was designed to achieve a predefined formation pattern.
• A decentralized adaptive fuzzy tracking controller was developed using fuzzy-logic systems.
• Lyapunov functions were employed to guarantee stability of tracking errors.

Main Results:

• The proposed observer successfully achieved the desired time-varying formation under a directed communication topology.
• The decentralized controller ensured stable tracking and formation control for the vehicle cluster.
• Simulation results validated the effectiveness of the cooperative control methodology.

Conclusions:

• The developed control scheme effectively manages cooperative time-varying formation control for heterogeneous marine vehicles.
• The approach robustly handles unknown nonlinearities and actuator failures.
• The methodology ensures asymptotic stability for tracking errors, enabling precise formation maneuvers.