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Prescribed-Time Time-Varying Formation Control for Multiple USVs

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Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 934))

Abstract

This article concerns the prescribed-time time-varying formation (TVF) problem concerning multiple unmanned surface vessels (USVs) based on a leader-follower formation control scheme. Firstly, under a feasibility condition depicted by a TVF function and its derivative, a distributed control protocol is implemented. Secondly, a prescribed-time disturbance observer (PTDO) is devised to estimate and compensate the external time-varying disturbances subjected to USVs, which effectively overcomes the unknown dynamics and further enhances the robustness of the distributed controllers. Then, distributed controllers are constructed to stabilize the formation error system based on the prescribed time control theory. The formation errors can still converge to zero within the prescribed time as well as meet the requirements of the predefined TVF in the company of environmental disturbances. Finally, the effectiveness of our theoretical analysis is demonstrated via the simulation results.

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Funding

Fundings.

This work was supported by the National Natural Science Foundation of China under Grants 51939001 and 61976033, the Liaoning Revitalization Talents Program under Grant XLYC1908018.

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Authors and Affiliations

  1. College of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, China

    Di Rong, Lili Li & Meijuan Tong

Authors
  1. Di Rong
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  2. Lili Li
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  3. Meijuan Tong
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Corresponding author

Correspondence to Lili Li .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Zhang Ren

  2. Beijing Institute of Electronic System Engineering, Beijing, China

    Mengyi Wang

  3. Beihang University, Beijing, China

    Yongzhao Hua

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Rong, D., Li, L., Tong, M. (2023). Prescribed-Time Time-Varying Formation Control for Multiple USVs. In: Ren, Z., Wang, M., Hua, Y. (eds) Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control. Lecture Notes in Electrical Engineering, vol 934. Springer, Singapore. https://doi.org/10.1007/978-981-19-3998-3_10

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  • DOI: https://doi.org/10.1007/978-981-19-3998-3_10

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-3997-6

  • Online ISBN: 978-981-19-3998-3

  • eBook Packages: EngineeringEngineering (R0)

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