Leader–Follower Formation Tracking Control of Underactuated Surface Vehicles Based on Event-Trigged Control

This paper investigates the leader–follower formation tracking control of underactuated surface vessels (USVs) with input saturation. Each vessel is subject to the uncertainties induced by model uncertainties and environmental disturbances. First, an event-triggered extended-state observer (ETESO) i...

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Bibliographic Details
Published inApplied sciences Vol. 13; no. 12; p. 7156
Main Authors Xia, Xiaoming, Yang, Zhaodi, Yang, Tianxiang
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.06.2023
Subjects
Actuators
Analysis
Closed loop systems
Communication
Control algorithms
Control systems
Controllers
Design
event-triggered controller
formation tracking
leader–follower
Ocean engineering
Parameter estimation
underactuated surface vessels
Velocity
Iran
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Summary:This paper investigates the leader–follower formation tracking control of underactuated surface vessels (USVs) with input saturation. Each vessel is subject to the uncertainties induced by model uncertainties and environmental disturbances. First, an event-triggered extended-state observer (ETESO) is used to recover the velocity, yaw rate and uncertainties. Then, an estimator is used to estimate the velocity of the leader. An event-triggered controller (ETC) is constructed based on the estimator, the observer and extra variables. Specifically, extra variables are used to solve the problems of underactuation and input saturation. Stability analysis of the control system is conducted to prove that all signals are bounded. Simulations demonstrate that the ETESO can accurately estimate the uncertainties, velocity and yaw rate, and the ETC can largely reduce the action times of actuator.
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ISSN:2076-3417
2076-3417
DOI:10.3390/app13127156