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Connectivity-preserving-based Distributed Synchronized Tracking of Networked Uncertain Underactuated Surface Vessels with Actuator Failures and Unknown Control Directions

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Abstract

When the actuator faults and the control directions are unknown, the difficulty of the asymptotically tracking control of the surface vessel will increase. In this paper, for actuator failures and unknown control directions, a distributed adaptive asymptotically synchronous tracking control law for multiple uncertain underactuated surface vessels (USVs) is proposed, which can achieve network connectivity and good tracking performance in a limited communication range. First, a distributed nonlinear error surface is introduced to achieve synchronous tracking between USVs and maintain the initial connectivity patterns. Second, a conditional inequality is proposed to solve the problems of unknown actuator failures and unknown control directions. Then, combined with the derived technical lemmas and Barbalat’s lemma, the stability of the closed loop system is proved by the Lyapunov method. Finally, a simulation example verifies the theoretical results.

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Authors and Affiliations

  1. Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai, 200093, China

    Yujing Xu, Chaoli Wang, Xuan Cai, Luyan Xu & Chonglin Jing

  2. Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai, China

    Gang Wang

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Correspondence to Chaoli Wang.

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This paper was partially supported by National Defense Basic Research ProgramJCKY2019413D001), Natural Science Foundation (6217023627, 62003214, 62173054) and Shanghai Natural Science Foundation (19ZR1436000).

Yujing Xu received her M.Sc. degree in Shandong University of Technology in 2018. She is currently pursuing a Ph.D. degree in control science and engineering at the University of Shanghai for Science and Technology, Shanghai, China. Her current research interests include nonlinear adaptive control, formation control, multi-agent systems, and the control of nonholonomic mobile robot.

Chaoli Wang received his B.S. and M.Sc. degrees from Mathematics Department, Lanzhou University, Lanzhou, China, in 1986 and 1992, respectively, and a Ph.D. degree in control theory and engineering from the Beijing University of Aeronautics and Astronautics, Beijing, China, in 1999. He is a Professor with the School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai, China. From 1999 to 2000, he was a Post-Doctoral Research Fellow with the Robotics Laboratory of Chinese Academy of Sciences, Shenyang, China. From 2001 to 2002, he was a Research Associate with the Department of Automation and Computer-Aided Engineering, the Chinese University of Hong Kong, Hong Kong. Since 2003, he has been with the Department of Electrical Engineering, University of Shanghai for Science and Technology, Shanghai, China. His current research interests include nonlinear control, robust control, robot dynamic and control, visual servoing feedback control, and pattern identification.

Gang Wang received his B.Sc. degree in information and computing science and his Ph.D. degree in systems analysis and integration from the University of Shanghai for Science and Technology, Shanghai, China, in 2012 and 2017, respectively. After working as a Research Associate with the University of Nevada, Reno, NV, USA, for two years, he joined the University of Shanghai for Science and Technology, in 2020, where he is currently a Lecturer with the Institute of Machine Intelligence. His research interests include distributed control of nonlinear systems, adaptive control, and robotics. He was a Finalist of the Best Paper Award at the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

Xuan Cai received his B.E. degree in automation from Shanghai Dianji University, Shanghai, China in 2012 and his M.E. degree in Control Engineering from University of Shanghai for Science and Technology, Shanghai, China in 2015. He is currently pursuing a Ph.D. degree in control science and engineering at University of Shanghai for Science and Technology, Shanghai, China. His current research interests include nonlinear control theory, distributed control of nonlinear systems and adaptive control.

Luyan Xu was born in Xinyang, China, in 1994. She received her B.Sc. degree in Henan Normal University in 2016. She is currently pursuing a Ph.D. degree in control science and engineering at the University of Shanghai for Science and Technology, Shanghai, China. Her research interests include distributed control of nonlinear systems, adaptive control, and multiagent systems.

Chonglin Jing was born in Henan, China, in 1992. He received his B.Sc. degree in information and computing science from Henan University of Science and Technology He is currently pursuing a Ph.D. degree in control science and engineering at the University of Shanghai for Science and Technology, Shanghai, China. His research interests include adaptive control and adaptive dynamic programming.

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Xu, Y., Wang, C., Wang, G. et al. Connectivity-preserving-based Distributed Synchronized Tracking of Networked Uncertain Underactuated Surface Vessels with Actuator Failures and Unknown Control Directions. Int. J. Control Autom. Syst. 19, 3996–4009 (2021). https://doi.org/10.1007/s12555-020-0841-7

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