In this work, we investigate the tracking control problem of asymmetrical underactuated surface vessels with parameter uncertainties. The tracking error model is first derived via appropriate coordinate transformation...In this work, we investigate the tracking control problem of asymmetrical underactuated surface vessels with parameter uncertainties. The tracking error model is first derived via appropriate coordinate transformations, and is considered as a cascade structure composed of two subsystems. The Lyapunov redesign approach is employed to construct the control laws separately to stabilize the two subsystems with unknown model parameters. The cascade system theory is applied to prove the global uniform asymptotic convergence of the state trajectory to the reference one provided the desired yaw velocity is not vanishing. The effectiveness of the proposed control laws is verified by simulation examples.展开更多
In this paper,the formation control problem is investigated for a team of uncertain underactuated surface vessels(USVs)based on a directed graph.Considering the risk of collision and the limited communication range of...In this paper,the formation control problem is investigated for a team of uncertain underactuated surface vessels(USVs)based on a directed graph.Considering the risk of collision and the limited communication range of USVs,the prescribed performance control(PPC)methodology is employed to ensure collision avoidance and connectivity maintenance.An event-triggered mechanism is designed to reasonably use the limited communication resources.Moreover,neural networks(NNs)and an auxiliary variable are constructed to deal with the problems of uncertain nonlinearities and underactuation,respectively.Then,an event-triggered formation control scheme is proposed to ensure that all signals of the closed-loop system are uniformly ultimately bounded(UUB).Finally,simulation results are presented to demonstrate the effectiveness of the proposed control scheme.展开更多
基金supported by National Science and Technology Major Project(No.2012CB821202)the Beijing Natural Science Foundation(Nos.4122043,4112034)the National Natural Science Foundation of China(Nos.60874012,61174057)
文摘In this work, we investigate the tracking control problem of asymmetrical underactuated surface vessels with parameter uncertainties. The tracking error model is first derived via appropriate coordinate transformations, and is considered as a cascade structure composed of two subsystems. The Lyapunov redesign approach is employed to construct the control laws separately to stabilize the two subsystems with unknown model parameters. The cascade system theory is applied to prove the global uniform asymptotic convergence of the state trajectory to the reference one provided the desired yaw velocity is not vanishing. The effectiveness of the proposed control laws is verified by simulation examples.
基金partially supported by the National Natural Science Foundation of China under Grant Nos.62033003,62003098,61973091the Local Innovative and Research Teams Project of Guangdong Special Support Program under Grant No.2019BT02X353the China Postdoctoral Science Foundation under Grant Nos.2019M662813 and 2020T130124。
文摘In this paper,the formation control problem is investigated for a team of uncertain underactuated surface vessels(USVs)based on a directed graph.Considering the risk of collision and the limited communication range of USVs,the prescribed performance control(PPC)methodology is employed to ensure collision avoidance and connectivity maintenance.An event-triggered mechanism is designed to reasonably use the limited communication resources.Moreover,neural networks(NNs)and an auxiliary variable are constructed to deal with the problems of uncertain nonlinearities and underactuation,respectively.Then,an event-triggered formation control scheme is proposed to ensure that all signals of the closed-loop system are uniformly ultimately bounded(UUB).Finally,simulation results are presented to demonstrate the effectiveness of the proposed control scheme.
