Adaptive Fuzzy Backstepping-Based Formation Control of Unmanned Surface Vehicles with Unknown Model Nonlinearity and Actuator Saturation

Weixiang Zhou, Yueying Wang, Choon Ki Ahn, Jun Cheng, Chaoyang Chen

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)

Abstract

In this article, 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, steering the leader USV to trace along the desired path and 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 unknown nonlinear items in the USV. To maintain the desired formation, the desired velocities of follower USVs are deduced 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.

Original languageEnglish
Article number9264726
Pages (from-to)14749-14764
Number of pages16
JournalIEEE Transactions on Vehicular Technology
Volume69
Issue number12
DOIs
Publication statusPublished - 2020 Dec

Keywords

  • Backstepping control
  • formation control
  • fuzzy logic system
  • input constraints
  • unknown model nonlinearity
  • unmanned surface vehicle

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Electrical and Electronic Engineering
  • Applied Mathematics

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