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Robust adaptive formation control of underactuated surface vehicles with the desired-heading amendment

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Abstract

This note focuses on the leader–follower formation control problem of underactuated surface vehicles (USVs) with the unknown environmental disturbance. Especially, due to the ocean environmental disturbance, the vehicle’s desired-heading angle is altered violently. To address the constraint, a reduced-order extended state observer (ESO) is introduced. The sideslip angle of the vehicle is estimated online to amend the reference heading angle by virtue of the proposed observer. Furthermore, a novel adaptive formation control algorithm is presented to stabilize the dynamic error system. For the merits of the radial basis function neural networks (RBF NNs) and the minimal learning parameter (MLP) techniques, only two adaptive parameters require to be updated online to compensate for the perturbation from the model uncertainty and the environmental disturbance. Based on the proposed controller, it is illustrated that the desired formation pattern can be maintained without the effect of the sideslip angle. Meanwhile, all signals in the closed-loop system are proved to be with the semi-global uniformly ultimately bounded (SGUUB) stability. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed algorithm.

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Acknowledgements

This research is partially supported by the National Natural Science Foundation of China (No. 51909018), the Science and Technology Innovation Foundation of Dalian City (No.2019J12GX026), the Natural Science Foundation of Liaoning Province (No. 20170520189, 20180520039), and the Fundamental Research Funds for the Central Universities of China (3132020124). The authors would like to thank anonymous reviewers for their valuable comments to improve the quality of this note.

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Authors and Affiliations

  1. Navigation College, Dalian Maritime University, Dalian, China

    Guoqing Zhang, Wei Yu & Chenfeng Huang

  2. Department of Automation, Shanghai Jiao Tong University, Shanghai, China

    Weidong Zhang

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  1. Guoqing Zhang
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  2. Wei Yu
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  3. Weidong Zhang
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  4. Chenfeng Huang
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Correspondence to Guoqing Zhang.

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Zhang, G., Yu, W., Zhang, W. et al. Robust adaptive formation control of underactuated surface vehicles with the desired-heading amendment . J Mar Sci Technol 27, 138–150 (2022). https://doi.org/10.1007/s00773-021-00820-2

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  • DOI: https://doi.org/10.1007/s00773-021-00820-2

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