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Distributed fixed-time formation tracking control for multiple underactuated USVs with lumped uncertainties and input

Junpeng Li1, Yunsheng Fan1, Jiaxian Liu1

  • 1College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China; Key Laboratory of Technology and System for Intelligent Ships of Liaoning Province, Dalian 116026, China.

ISA Transactions
|September 13, 2024
PubMed
Summary

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.

Keywords:
Fixed-time ESOFixed-time theoryFormation controlInput saturationUnderactuated USV

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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.