Distributed fixed-time formation tracking control for multiple underactuated USVs with lumped uncertainties and input saturation
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View abstract on PubMed
Summary
This summary is machine-generated.This study presents a fixed-time distributed formation control strategy for underactuated unmanned surface vehicles (USVs) with unmeasured velocities and input saturation, ensuring stable formation control.
Area Of Science
- Robotics
- Control Systems Engineering
- Marine Engineering
Background
- Underactuated unmanned surface vehicles (USVs) present challenges in formation control due to unmeasured velocities and input saturation.
- Existing control strategies often struggle to achieve precise and stable formations under these constraints.
Purpose Of The Study
- To develop a fixed-time distributed formation control strategy for multiple underactuated USVs.
- To address issues of unmeasured velocities and input saturation in USV formation control.
Main Methods
- Applied coordinate transformation to handle underactuation.
- Constructed a fixed-time extended state observer (FESO) for estimating unmeasured states and disturbances.
- Utilized a fixed-time differentiator for virtual control laws.
- Designed a fixed-time distributed formation controller with an auxiliary system to mitigate input saturation effects.
Main Results
- Successfully estimated unmeasured velocities and lumped disturbances using FESO.
- Achieved preset formation using a leader-follower approach.
- Eliminated the impact of input saturation through an auxiliary system.
- Demonstrated fixed-time stability of the closed-loop system via Lyapunov theory.
Conclusions
- The proposed fixed-time distributed formation control strategy is effective for underactuated USVs.
- The method overcomes limitations of unmeasured velocities and input saturation.
- Simulation results confirm the superiority of the developed control scheme.
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