This study develops a formation-tracking control scheme for a group of unmanned surface vehicles (USVs) operating in the presence of time-varying environmental disturbances and actuator saturation. The control task requires the follower vessels to track a virtual navigation vessel, preserve the prescribed formation geometry, and simultaneously satisfy obstacle-avoidance requirements. To cope with unknown external effects, a finite-time disturbance observer is incorporated to reconstruct the environmental disturbances. The discrepancy caused by actuator saturation is handled through an auxiliary dynamic compensation mechanism. On this basis, these components are integrated into a state-feedback control law for coordinated formation tracking. A Lyapunov-based analysis is carried out to establish the stability properties of the resulting closed-loop system. Numerical simulations further demonstrate the formation-tracking performance and the effectiveness of the proposed control architecture under disturbance and saturation effects.
This paper investigates the performance-constrained formation control issues for multiple underactuated unmanned surface vehicles (USVs) under uncertain dynamics and the limited communication bandwidth. Firstly, an auxiliary input–output transformation is introduced to achieve the relative degrees where the transverse...
Numerical simulations demonstrate superior tracking accuracy and disturbance rejection capability compared to conventional adaptive neural DSC without disturbance observers, validating the effectiveness and robustness of the proposed scheme.
Xian Pan, Dong-Xue Wang, You-Wu Liu et al.· PLoS ONE· 0 citations
An intelligent robust control framework that integrates predefined-time prescribed-performance control, actor–critic reinforcement learning, and an integral sliding-mode disturbance observer for USV trajectory and velocity tracking provides a promising solution for time-sensitive autonomous marine missions.
Mostafa Jalalnezha· Journal of the Brazilian Soc...· 0 citations
This paper addresses the formation control problem of multiple unmanned surface vehicles (USVs) in maritime environments characterized by strong disturbances, nonlinear uncertainties, and obstacle constraints. Accordingly, a disturbance-observed adaptive event-triggered formation control method is proposed. First, a sl...
Jia-Jia Zhou, Dan-Mi Xu, Wen Xing et al.· IEEE Transactions on Automat...· 0 citations
This paper investigates the asymptotic formation tracking control problem for heterogeneous multi-agent systems (HMASs) subject to external disturbances and time-varying actuator faults. A comprehensive model incorporating these uncertainties is formulated to capture realistic engineering scenarios. To ensure robustnes...
To address the robust formation maneuvering control problem of multi-omnidirectional robot systems under the combined effects of the roller effect and ground friction, this paper proposes a composite disturbance-rejection robust control architecture integrating a hierarchical observer and a sliding mode controller. Fir...
Yang Liu, Xu-Dong Zhao, Xiang Liu et al.· IEEE Transactions on Automat...· 0 citations
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