Prescribed Performance Formation Tracking Control for Underactuated AUVs under Time-Varying Communication Delays
Abstract
:1. Introduction
- (1)
- Combining time series analysis theory, an innovative real-time state information online predictor (RSIOP) is proposed. This approach does not necessitate prior knowledge of the upper bound of communication delays. Instead, it leverages the delayed motion state information of neighboring AUVs to recursively obtain their current state information. This approach not only ensures data validity but also achieves real-time active compensation for time-varying communication delays.
- (2)
- To enhance both transient and steady-state performance, the AUV formation’s motion states are constrained using prescribed performance functions, which significantly improves operational efficiency. Additionally, by incorporating nonlinear mapping techniques, the complex transformations of constrained errors are avoided, resulting in a more straightforward and intuitive control protocol design.
- (3)
- The proposed approach addresses the adverse effects of input saturation and unknown external disturbances in AUV formation control without the need for observers, thereby simplifying the adjustment of control parameters.
- (4)
- The formation is designed to be dynamic, enhancing its flexibility in practical applications and improving its ability to adapt to complex and evolving environments.
2. Preliminary and Problem Formulations
2.1. Graphy Theory
2.2. AUV Model
2.3. Actuator Dynamics
3. Approach to Address Time-Varying Underwater Acoustic Communication Delay
4. Formation Control Protocol Design
4.1. Error Transformation with Prescribed Performance
4.2. Formation Control Law Design
4.3. Stability Analysis
5. Simulation Results
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Parameters | Value | Parameters | Value |
---|---|---|---|
2.55 | |||
Maximum thrust | Maximum Horizontal/Vertical Rudder Force |
Parameters | Value | Parameters | Value |
---|---|---|---|
Parameters | Value |
---|---|
Parameters | Value |
---|---|
, else | |
Parameters | ||||||
---|---|---|---|---|---|---|
The proposed protocol | 1237.49 | 1252.75 | 612.64 | 7.43 | 6 | 4 |
Backstepping method | 2989 | 5646.97 | 1056.65 | 9.66 | 15.61 | 4 |
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Share and Cite
Zhang, H.; Jiang, Y.; Gao, R.; Li, H.; Li, A. Prescribed Performance Formation Tracking Control for Underactuated AUVs under Time-Varying Communication Delays. J. Mar. Sci. Eng. 2024, 12, 1533. https://doi.org/10.3390/jmse12091533
Zhang H, Jiang Y, Gao R, Li H, Li A. Prescribed Performance Formation Tracking Control for Underactuated AUVs under Time-Varying Communication Delays. Journal of Marine Science and Engineering. 2024; 12(9):1533. https://doi.org/10.3390/jmse12091533
Chicago/Turabian StyleZhang, Haitian, Yanqing Jiang, Rui Gao, Hang Li, and Ao Li. 2024. "Prescribed Performance Formation Tracking Control for Underactuated AUVs under Time-Varying Communication Delays" Journal of Marine Science and Engineering 12, no. 9: 1533. https://doi.org/10.3390/jmse12091533