Distributed Robust Learning-Based Backstepping Control Aided With Neurodynamics for Consensus Formation Tracking of Underwater Vessels

• Published in: IEEE transactions on cybernetics Vol. 54; no. 4; pp. 2434 - 2445
• Main Authors: Yan, Tao, Xu, Zhe, Yang, Simon X.
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.04.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptation models; Backstepping control; Closed loops; consensus formation tracking; Control systems design; Controllers; Distance learning; distributed robust learning-based control; Disturbances; Dynamic models; Environment models; Feedback control; Formation control; Graph theory; neurodynamics model; Ocean models; Parameter uncertainty; Protocols; Robust control; Sea vessels; Solid modeling; Stability analysis; Tracking control; Trajectory; Uncertainty; Underwater; underwater vessel (AUV) fleet; Vehicle dynamics; Vessels

This article addresses distributed robust learning-based control for consensus formation tracking of multiple underwater vessels, in which the system parameters of the marine vessels are assumed to be entirely unknown and subject to the modeling mismatch, oceanic disturbances, and noises. Toward thi...