Global fixed-time position-constrained guidance and adaptive fuzzy prescribed performance control using novel shift...

Area of Science:

• Robotics
• Control Systems Engineering
• Ocean Engineering

Background:

• Coordinating multiple unmanned surface vehicles (Multi-USVs) faces challenges from under-actuation and environmental disturbances.
• Existing formation control methods often struggle with fixed-time constraints and unknown system uncertainties.

Purpose of the Study:

• To develop a global fixed-time constrained guidance and control approach for Multi-USV formations.
• To address challenges in under-actuation, environmental disturbances, and output/tracking error constraints.

Main Methods:

• Proposed a global fixed-time control Lyapunov function (GFCLF) to handle fixed-time output partial constraints.
• Designed a fixed-time asymmetric position-constrained guidance algorithm using line-of-sight principles and a leader-follower structure.
• Developed global fixed-time adaptive fuzzy prescribed performance control laws with a fuzzy logic system to approximate unknown disturbances.

Main Results:

• Achieved global fixed-time tracking control for Multi-USV formations.
• Ensured all tracking error signals are bounded within a fixed time, proving closed-loop system stability.
• Demonstrated the approach's practicality and superiority through simulations on a physical USV model.

Conclusions:

• The proposed global fixed-time constrained guidance and control approach effectively manages Multi-USV formations.
• The method offers enhanced stability and performance in the presence of constraints and unknown disturbances.
• Validated through simulations, the approach presents a significant advancement for autonomous marine systems.