TY - JOUR
T1 - Adaptive Fuzzy Backstepping-based Formation Control of Unmanned Surface Vehicles with Unknown Model Nonlinearity and Actuator Saturation
AU - Zhou, Weixiang
AU - Wang, Yueying
AU - Ahn, Choon Ki
AU - Cheng, Jun
AU - Chen, Chaoyang
N1 - Publisher Copyright:
IEEE
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020
Y1 - 2020
N2 - In this paper, the formation control of unmanned surface vehicles (USVs) is addressed considering actuator saturation and unknown nonlinear items. The algorithm can be divided into two parts; one is steering the leader USV to trace along the desired path and the other is steering the follower USV to follow the leader in the desired formation. In the proposed formation control framework, a virtual USV is first constructed so that the leader USV can be guided to the desired path. To solve the input constraint problem, an auxiliary is introduced, and the adaptive fuzzy method is used to estimate the unknown nonlinear items in the USV. To keep the desired formation, the desired velocities of follower USVs are deduced by using geometry and Lyapunov stability theories. The stability of the closed-loop system is also proved. Finally, the effectiveness of the proposed approach is demonstrated by the simulation and experimental results.
AB - In this paper, the formation control of unmanned surface vehicles (USVs) is addressed considering actuator saturation and unknown nonlinear items. The algorithm can be divided into two parts; one is steering the leader USV to trace along the desired path and the other is steering the follower USV to follow the leader in the desired formation. In the proposed formation control framework, a virtual USV is first constructed so that the leader USV can be guided to the desired path. To solve the input constraint problem, an auxiliary is introduced, and the adaptive fuzzy method is used to estimate the unknown nonlinear items in the USV. To keep the desired formation, the desired velocities of follower USVs are deduced by using geometry and Lyapunov stability theories. The stability of the closed-loop system is also proved. Finally, the effectiveness of the proposed approach is demonstrated by the simulation and experimental results.
KW - backstepping control
KW - formation control
KW - fuzzy logic system
KW - input constraints
KW - unknown model non-linearity
KW - Unmanned surface vehicle
UR - http://www.scopus.com/inward/record.url?scp=85096864724&partnerID=8YFLogxK
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U2 - 10.1109/TVT.2020.3039220
DO - 10.1109/TVT.2020.3039220
M3 - Article
AN - SCOPUS:85096864724
JO - IEEE Transactions on Vehicular Technology
JF - IEEE Transactions on Vehicular Technology
SN - 0018-9545
ER -