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Distributed global output-feedback formation control without velocity measurement for multiple unmanned surface vehicles.
Zhang, Lei; Zheng, Yuxin; Huang, Ziyang; Huang, Bing; Su, Yumin.
Afiliación
  • Zhang L; Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China.
  • Zheng Y; Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China. Electronic address: zhengyuxin@hrbeu.edu.cn.
  • Huang Z; Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China.
  • Huang B; Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China.
  • Su Y; Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China.
ISA Trans ; 147: 118-129, 2024 Apr.
Article en En | MEDLINE | ID: mdl-38431454
ABSTRACT
This article studies the distributed formation control problem for multiple unmanned surface vehicles (USVs) considering uncertain coefficient matrixes, unmeasurable velocities, and time-varying disturbances. The main contributions are as follows First, a global coordinate translation is proposed to partially linearize the nonlinear dynamic model equipped with the unmeasurable velocity. Second, based on the global coordinate translation, a novel type of fixed-time extended two-state observer (FTETSO) is developed to estimate unmeasurable velocities and total disturbances for each vehicle. Wherein, the estimation errors will converge to zero within a fixed time. Meanwhile, considering estimation accuracy, a two-state extension is proposed to replace a single-state extension. Third, using a sliding model-based control technique, an FTETSO-based distributed global output-feedback fixed-time formation controller (GOFFC) is elaborately developed. Based on the proposed controller, the fixed-time convergence of the closed-loop system is ensured. Finally, the validity and stability of the proposed control approach are verified by simulations.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: ISA Trans Año: 2024 Tipo del documento: Article País de afiliación: China Pais de publicación: Estados Unidos
Texto completo
Añadir a Mi BVS
Imprimir
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PubMed Links
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: ISA Trans Año: 2024 Tipo del documento: Article País de afiliación: China Pais de publicación: Estados Unidos