Shuang Wang;Tao Han;Bo Xiao;Xi-Sheng Zhan;Huaicheng Yan
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引用次数: 0
Abstract
This article investigates the problem of practical predefined-time formation tracking for multiple autonomous surface vehicles facing the case of lumped uncertainties (namely, model uncertainties, external disturbances, and actuator failures). An estimator-based adaptive fuzzy control algorithm is designed to handle this complex problem, comprising two integral components: 1) a predefined-time distributed estimator and 2) an adaptive fuzzy formation tracking controller. The distributed estimator is designed to accurately estimate the target state within a predefined time. By utilizing filtering techniques to define the filtered errors, and combining fuzzy logic systems with adaptive compensation methods, an adaptive fuzzy controller is developed to achieve the time-varying formation tracking task. Sufficient conditions for achieving practical predefined-time convergence of the tracking errors are derived using Lyapunov stability analysis. Finally, numerical simulations involving multiple Cyber-Ships II are conducted to validate the primary results.
期刊介绍：
The scope of the Transactions is threefold (which was approved by the IEEE Periodicals Committee in 1967) and is published on the journal website as follows: Communications: The use of mobile radio on land, sea, and air, including cellular radio, two-way radio, and one-way radio, with applications to dispatch and control vehicles, mobile radiotelephone, radio paging, and status monitoring and reporting. Related areas include spectrum usage, component radio equipment such as cavities and antennas, compute control for radio systems, digital modulation and transmission techniques, mobile radio circuit design, radio propagation for vehicular communications, effects of ignition noise and radio frequency interference, and consideration of the vehicle as part of the radio operating environment. Transportation Systems: The use of electronic technology for the control of ground transportation systems including, but not limited to, traffic aid systems; traffic control systems; automatic vehicle identification, location, and monitoring systems; automated transport systems, with single and multiple vehicle control; and moving walkways or people-movers. Vehicular Electronics: The use of electronic or electrical components and systems for control, propulsion, or auxiliary functions, including but not limited to, electronic controls for engineer, drive train, convenience, safety, and other vehicle systems; sensors, actuators, and microprocessors for onboard use; electronic fuel control systems; vehicle electrical components and systems collision avoidance systems; electromagnetic compatibility in the vehicle environment; and electric vehicles and controls.
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