Formation control of autonomous surface vessels with saturation constraint
FU Ming-yu
YU Ling-ling
JIAO Jian-fang
XU Yu-jie
Abstract：This paper considers the formation control of autonomous surface vessels with model uncertainties and ocean disturbances. To deal with the control saturation constraint problem in the formation control process, a formation control algorithm based on generalized saturation function is proposed. Firstly, by using the virtual leader-follower strategy, the formation controller is designed based on backstepping control method and a more general generalized saturation function, which breaks through the limitation of using specific saturation function. In addition, according to the characteristic of the autonomous surface vessels, the single hidden layer neural network is employed to approximate the model uncertainties and ocean disturbances. Then, the boundedness of all the closed-loop system signals is rigorously proved based on the Lyapunov theory of stability, and the tracking errors can be arbitrarily small by choosing appropriate design parameters. Finally, the comparative analysis of simulation results demonstrates the effectiveness of the proposed formation control algorithm in this paper.
Keywords：autonomous surface vesselsformation controlsaturation constraintgeneralized saturation functionun-certainties
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 663-670 )