Disturbance-Observer-Based Adaptive Prescribed Performance Formation Tracking Control for Multiple Underactuated Surface Vehicles
Abstract
:1. Introduction
- A novel error transformation equation is proposed and integrated with a predefined performance function to ensure that the orientation of each USV meets the prescribed safe attitude requirement, thereby achieving collision-free formation motion for each USV. In contrast to [30], the proposed error transformation equation is differentiable. Additionally, compared to [25,26,27], the formulation of the error transformation equation in this study is simpler, thereby reducing the complexity of the formation controller.
- A modified sliding mode differentiator (MSMD) disturbance observer is proposed to estimate the unknown synthesized disturbances in a USV formation system due to its merits of no chattering in disturbance estimation, better robustness and simple. Additionally, the adaptive estimator provides a straightforward and efficient approach independent of prior knowledge to approximate the upper bound of disturbances, making it more universally applicable compared to the approach detailed in [31].
- Moreover, an adaptive prescribed performance controller is formulated using the backstepping control method. This approach incorporates a new second-order nonlinear differentiator (NLD) to enhance the precision of derivative extraction from the virtual control law, surpassing the capabilities of conventional first-order filters.
2. Preliminary and Problem Formation
2.1. Preliminary
2.2. Mathematical Model of USVs
2.3. Control Objective
3. Adaptive Formation Controller Design
3.1. MSMD Disturbance Observer Design
3.2. Adaptive Distributed Formation Controller Design
4. Stability Analysis
5. Simulation
- (1)
- When , we choose
- (2)
- When , we choose
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
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Li, J.; Fu, M.; Xu, Y. Disturbance-Observer-Based Adaptive Prescribed Performance Formation Tracking Control for Multiple Underactuated Surface Vehicles. J. Mar. Sci. Eng. 2024, 12, 1136. https://doi.org/10.3390/jmse12071136
Li J, Fu M, Xu Y. Disturbance-Observer-Based Adaptive Prescribed Performance Formation Tracking Control for Multiple Underactuated Surface Vehicles. Journal of Marine Science and Engineering. 2024; 12(7):1136. https://doi.org/10.3390/jmse12071136
Chicago/Turabian StyleLi, Jin, Mingyu Fu, and Yujie Xu. 2024. "Disturbance-Observer-Based Adaptive Prescribed Performance Formation Tracking Control for Multiple Underactuated Surface Vehicles" Journal of Marine Science and Engineering 12, no. 7: 1136. https://doi.org/10.3390/jmse12071136
APA StyleLi, J., Fu, M., & Xu, Y. (2024). Disturbance-Observer-Based Adaptive Prescribed Performance Formation Tracking Control for Multiple Underactuated Surface Vehicles. Journal of Marine Science and Engineering, 12(7), 1136. https://doi.org/10.3390/jmse12071136