Prescribed-Time Time-Varying Multi-Group Formation Tracking Control of NMSVs via Estimator-Based Hierarchical Control Algorithm

• Published in: IEEE transactions on intelligent vehicles Vol. 8; no. 11; pp. 1 - 6
• Main Authors: Chen, Lin-Jing, Han, Tao, Xiao, Bo, Yan, Huaicheng
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.11.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Asymptotic stability; Closed loops; Control theory; Feedback control; Intelligent vehicles; Mathematical models; multi-group formation tracking control (MGFTC); Networked marine surface vehicles (NMSVs); prescribed-time estimator-based hierarchical control (PTEBHC); Protocols; Stability; Surface treatment; Surface vehicles; Target tracking; Tracking control; Vehicle dynamics
• ISSN: 2379-8858; 2379-8904
• DOI: 10.1109/TIV.2023.3327338

This article considers the time-varying multi-group formation tracking control (MGFTC) problem in a prescribed time for the networked marine surface vehicles (NMSVs) facing the case of the external disturbances. To handle such a complicated issue, the prescribed-time estimator-based hierarchical control (PTEBHC) scheme is constructed. More notably, the convergence time can be randomly predetermined according to practical demand. In the light of the Lyapunov stability theory, the sufficient conditions for ensuring the prescribed-time stability of the closed-loop system are obtained. Eventually, the corresponding simulations are presented to demonstrate the feasibility and effectiveness of the constructed algorithms.