scholarly journals Adaptive Platoon Control for Marine Surface Vehicles in the Presence of Constraints

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Xiaoling Liang ◽  
Duansong Wang
Keyword(s):  
Formation Control ◽  
External Disturbance ◽  
Input Saturation ◽  
Neural Network Controller ◽  
Network Controller ◽  
Marine Surface Vehicles ◽  
Output Constraints ◽  
Marine Surface ◽  
Marine Vehicle ◽  
Theoretical Results

This paper presents the platoon formation control design for unmanned surface vehicles with input and output constraints. First, Barrier Lyapunov Function (BLF) is employed to ensure the desired line-of-sight (LOS) range. The LOS range should be maintained within the predefined regions between each marine vehicle and its predecessor while the connected platoons track the trajectory. Next, to handle the model uncertainties and unknown external disturbance, we propose an adaptive neural network controller that approximates the unknown nonlinearities. Furthermore, the Nussbaum function is applied to compensate for input saturations. In addition, formation errors can be guaranteed by stability analysis. The distance between two consecutive agents does not violate collision avoidance and connectivity in the presence of input saturation. Finally, the feasibility of the theoretical results is illustrated through the simulation results.

scholarly journals Backstepping control for a 3DOF model helicopter with input and output constraints

2016 ◽  
Vol 14 (1) ◽  
pp. 172988141668713
Author(s):  
Rong Mei ◽  
Qingliang Cui
Keyword(s):  
Motion Control ◽  
Degrees Of Freedom ◽  
External Disturbance ◽  
Input Saturation ◽  
Backstepping Control ◽  
Input And Output ◽  
Control Scheme ◽  
Output Constraints ◽  
Modelling Uncertainties ◽  
Model Helicopter

In this article, a backstepping control scheme is developed for the motion control of a Three degrees of freedom (3DOF) model helicopter with unknown external disturbance, modelling uncertainties and input and output constraints. In the developed robust control scheme, augmented state observers are applied to estimate the unknown states, unknown external disturbance and modelling uncertainties. Auxiliary systems are designed to deal with input saturation. A barrier Lyapunov function is employed to handle the output saturation. The stability of closed-loop system is proved by the Lyapunov method. Simulation results show that the designed control scheme is effective at dealing with the motion control of a 3DOF model helicopter in the presence of unknown external disturbance and modelling uncertainties, and input and output saturation.

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