scholarly journals A Staged Finite-Time Control Strategy for Formation of Underactuated Unmanned Surface Vehicles

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Hui Ye ◽  
Xiaofei Yang ◽  
Chunxiao Ge ◽  
Zhaoping Du
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Formation Control ◽  
Initial Condition ◽  
Limited Time ◽  
Unmanned Surface Vehicles ◽  
Time Control ◽  
Starting Point ◽  
Formation Pattern ◽  
Distributed Controllers

The formation control issue for a group of underactuated unmanned surface vehicles (USVs) is discussed in the paper, and a staged finite-time control strategy for the USVs is proposed. Firstly, we try to steer each USV to its own starting point in the formation for a limited time, under the initial condition that each of these vehicles is parked at random. To deal with the nonholonomic behavior of the system, the dynamics of the USV is transformed into cascade systems. Then, the finite-time controller is designed for each vehicle based on homogeneity theory. After each USV reaches its own starting point with desired orientation, the model of the vehicle is decomposed into two subsystems under the Serret-Frenet frame. In order to maintain the formation pattern, two finite-time distributed controllers are developed for the surge subsystem and the yaw subsystem, respectively. The settling time for the staged control strategy is limited. Numerical simulations are carried out to illustrate the effectiveness of the proposed formation control strategy.

scholarly journals Velocity Free Platoon Formation Control for Unmanned Surface Vehicles with Output Constraints and Model Uncertainties

2020 ◽  
Vol 10 (3) ◽  
pp. 1118 ◽  
Author(s):  
Duansong Wang ◽  
Mingyu Fu ◽  
Shuzhi Sam Ge ◽  
Dongyu Li
Keyword(s):  
Lyapunov Functions ◽  
Formation Control ◽  
Model Uncertainties ◽  
Model Based Control ◽  
Unmanned Surface Vehicles ◽  
Output Constraints ◽  
Formation Pattern ◽  
The Neural Networks ◽  
Communication Distance ◽  
Barrier Lyapunov Functions

This paper studies the velocity free platoon formation control for unmanned surface vehicles (USVs) with the model uncertainties and output constraints. Firstly, a reconstruction module is designed to estimate the velocity of the leader, which will be completed in finite time and will reduce the communication burden. Along with this, the model-based control combined with the symmetric barrier Lyapunov functions (BLF) method is designed to guarantee the output constraints. Then, the model uncertainties of the USV are approximated by the neural networks (NNs) and the NN BLF control is developed. To achieve the desired formation pattern, the constraints, including collision avoidance and communication distance, are under consideration. Finally, we proved that our system is semiglobally uniformly ultimately bounded (SGUUB) and verified the effectiveness of this approach by simulations.

scholarly journals Distributed Formation Control for Multiple Quadrotor Based on Multi-Agent Theory and Disturbance Observer

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Xiaohua Zhang ◽  
Junli Gao ◽  
Wenfeng Zhang ◽  
Tao Zeng ◽  
Liping Ye
Keyword(s):  
Finite Time ◽  
Formation Control ◽  
Control Method ◽  
Homogeneous System ◽  
Lyapunov Theory ◽  
Uncertain Parameters ◽  
External Disturbances ◽  
Agent Theory ◽  
Time Control ◽  
Multi Agent

This paper presents the disturbance observers-based distributed formation control for multiple quadrotor aircrafts with external disturbances and uncertain parameters using multi-agent theory and finite-time control method. Firstly, the finite-time disturbance observers are proposed to handle the external disturbances on the position-loop. Similarly, when there are both the uncertain parameters and external disturbances on the attitude-loop, the finite-time disturbance observers are designed to estimate the total lump disturbances. By skillfully using homogeneous system theory, Lyapunov theory, and multi-agent theory, the distributed formation control algorithms are developed. Finally, through simulations, the efficiency of the proposed method (including the convergence rate and disturbance rejection) is verified.

Finite-time distributed formation control for multiple unmanned surface vehicles with input saturation

2021 ◽  
Vol 233 ◽  
pp. 109158
Author(s):  
Bing Huang ◽  
Shuo Song ◽  
Cheng Zhu ◽  
Jun Li ◽  
Bin Zhou
Keyword(s):  
Finite Time ◽  
Formation Control ◽  
Input Saturation ◽  
Unmanned Surface Vehicles

scholarly journals Prescribed Finite-time ESO-based Prescribed Finite-time Control and Its Application to Partial IGC Design

2021 ◽  
Author(s):  
Lei Cui ◽  
Nan Jin
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Guidance And Control ◽  
Finite Time Convergence ◽  
Time Control ◽  
New Type ◽  
System States ◽  
And Control

Abstract This paper proposes a new extended stateobserver-based sliding mode control strategy with prescribed finite-time convergence. Firstly, a novel prescribed finite-time extended state observer is designed, which estimates the disturbance accurately within a prescribed finite time and effectively solves peaking value problem. Secondly, a new type of second-order prescribed finite-time sliding mode controller is designed to ensure system states converge within a prescribed finite time. Then, the proposed control strategy is applied to the design of partial integrated guidance and control with two-loop controller structure. Finally, the validity of the proposed methodology is verified through numerical simulation.

scholarly journals Adaptive Finite-Time Control for a Flexible Hypersonic Vehicle with Actuator Fault

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Jie Wang ◽  
Qun Zong ◽  
Xiao He ◽  
Hamid Reza Karimi
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Hypersonic Vehicle ◽  
Actuator Faults ◽  
Partial Loss ◽  
Time Control ◽  
Mode Method ◽  
Loss Of Actuator Effectiveness

The problem of robust fault-tolerant tracking control is investigated. Simulation on the longitudinal model of a flexible air-breathing hypersonic vehicle (FAHV) with actuator faults and uncertainties is conducted. In order to guarantee that the velocity and altitude track their desired commands in finite time with the partial loss of actuator effectiveness, an adaptive fault-tolerant control strategy is presented based on practical finite-time sliding mode method. The adaptive update laws are used to estimate the upper bound of uncertainties and the minimum value of actuator efficiency factor. Finally, simulation results show that the proposed control strategy is effective in rejecting uncertainties even in the presence of actuator faults.

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