This paper puts forward a prescribed-time prescribed performance-based distributed formation control method for multiple vessels with system uncertainties. First, we design a prescribed-time disturbance observer to estimate the system uncertainties, which contain unmodeled dynamics, modeling uncertainties, and unknown environmental disturbances. Subsequently, a prescribed-time prescribed performance (PTPP) function, which has the advantages of shape-adaptability and prescribed-time convergence, is developed to improve the transient performance of system. The performance specification of the designed PTPP function is imposed on formation errors by introducing an error conversion. Then, a PTPP-based distributed formation controller is proposed for the multi-vessel formation system, which is proved to be prescribed-time stable. Finally, simulations and comparisons are given to verify the superiority of the proposed control strategy. 

Prescribed-time prescribed performance-based distributed formation control of surface vessels with system uncertainties

Prescribed-time active fault-tolerant control of dynamic positioning vessels based on improved iterative learning observer

This paper focuses on a distributed cooperative time-varying formation maneuvering issue of under-actuated unmanned surface vehicles (USVs). A fleet of USVs is guided by a parameterized path with a time-varying formation while avoiding collisions and preserving the connectivity in the environment with multiple obstacles. In some surface missions, due to the obstacles in the external environment, the bandwidth limitations of the communication channel, and the hardware components/performance constraints of the USVs themselves, each vehicle is considered to be subject to model uncertainty, actuator quantization, sensor dead zone, and velocity constraints. During the control design process, the radial basis function (RBF) neural networks (NNs) are utilized to deal with nonlinear terms. Based on a nonlinear decomposition method, the relationship between the control signal and the quantization one is established, which overcomes the difficulty arising from actuator quantization. A Nussbaum function is introduced to handle the unknown output dead zone problem caused by reduced sensor sensitivity. Moreover, a universal-constrained function is employed to satisfy both the constrained and unconstrained requirements during formation keeping and obstacle avoidance. The Lyapunov stability theory confirmed that the error signals are uniformly ultimately bounded (UUB). The simulation results demonstrate the effectiveness of the proposed distributed formation control of multiple USVs.

Distributed Formation Maneuvering Quantized Control of Under-Actuated Unmanned Surface Vehicles with Collision and Velocity Constraints

Improved FPTPPF-based predefined-time tracking control of a UVMS with actuator faults

This work studies the dynamic positioning (DP) control issue of unmanned surface vessels subjected to thruster saturation, error constraints, and lumped disturbances composed of time-varying marine environmental disturbances and model parameter uncertainties. Combining the disturbance-accurate estimation technique and the prescribed performance control strategy, a novel prescribed-time DP control scheme is established to address this challenging problem. In particular, the prescribed-time lumped disturbance observer is designed to accurately estimate external marine disturbances, which guarantees that the estimation error converges to zero within a prescribed time. Subsequently, a prescribed performance control strategy is proposed to guarantee that the positioning errors of DP surface vessels with thruster saturation constraints meet the error constraints requirements within a prescribed time. Furthermore, an anti-windup compensator is presented to mitigate the thruster saturation and improve the robustness of the DP control system. The stability analysis demonstrates that all positioning errors of the closed-loop system can converge to predefined performance constraints within a prescribed time. Finally, the numerical simulation confirms the efficacy and superiority of the proposed PTDP scheme. 

Prescribed-Time Dynamic Positioning Control for USV with Lumped Disturbances, Thruster Saturation and Prescribed Performance Constraints

In the presence of unmeasurable velocities and system uncertainties, the distributed formation control problem is investigated in this paper for multiple vessels. A robust formation controller is proposed by incorporating an extended state observer (ESO) and finite-time prescribed performance function (FTPPF). Firstly, a nonlinear ESO is designed to estimate the unmeasurable velocities and system uncertainties. Subsequently, a novel FTPPF is designed to improve the dynamic performance of multi-vessel formation systems, where the upper bound of the convergence time and the constraint bounds can be set in advance based on the actual circumstances. Then, the proposed ESO and FTPPF are applied to the distributed formation controller design for multiple vessels. The proposed formation control scheme can maintain the multiple vessels in an expected formation with high tracking accuracy, a faster convergence speed, and smaller fluctuations. Finally, the performance of the proposed control method is verified by theory analysis and simulations.

/pdf/nonlinear-extended-state-observer-based-distributed-1anrxzwd.pdf

Nonlinear Extended State Observer-Based Distributed Formation Control of Multiple Vessels with Finite-Time Prescribed Performance

This paper investigates the formation control problem of multiple vessels subject to unmeasurable velocity, environmental disturbances, and modeling uncertainties. A robust controller is designed to address this problem, by incorporating the prescribed performance control technique and dynamic surface control method. Firstly, a nonlinear extended state observer is constructed to estimate the unmeasurable velocity vector. Then, a prescribed performance function is introduced to impose performance specifications in advance on the output tracking errors according to the mission requirements. Subsequently, the dynamic surface control method is introduced to design the robust formation controller of multiple vessels. Finally, the feasibility of the proposed algorithm is verified by simulations. The salient feature of the derived controller is that it can improve the dynamic performance of system.

Output-feedback Formation Control of Multiple Vessels with Prescribed Performance

Event-triggered prescribed-time distributed formation control of marine surface vessels with prescribed performance

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Nonlinear Extended State Observer-Based Distributed Formation Control of Multiple Vessels with Finite-Time Prescribed Performance

Output-feedback Formation Control of Multiple Vessels with Prescribed Performance

Event-triggered prescribed-time distributed formation control of marine surface vessels with prescribed performance