Fixed-Time Leader-Following Formation Control of Fully-Actuated Underwater Vehicles Without Velocity Measurements
查看参考文献33篇
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文摘
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This paper is concerned with formation control of fully-actuated underwater vehicles (FUVs), focusing on improving system convergence speed and overcoming velocity measurement limitation. By employing the fixed-time control theory and command filtering technique, a full state feedback formation algorithm is proposed, which makes the follower track the leader in a given time with all signals in the system globally practically stabilized in fixed time. To avoid degraded control performance due to inaccurate velocity measurement, a fixed-time convergent observer is designed to estimate the velocity of FUVs. Then the authors give an observer-based fixed-time control method, with which acceptable formation performance can be achieved in fixed time without velocity measurement. The effectiveness and performance of the proposed method are demonstrated by numerical simulations. |
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来源
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Journal of Systems Science and Complexity
,2022,35(2):559-585 【核心库】
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DOI
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10.1007/s11424-022-1502-0
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关键词
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Fixed-time control
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formation control
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fully-actuated underwater vehicles (FUVs)
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state feedback control
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velocity observer
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地址
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School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao, 066004
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语种
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英文 |
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文献类型
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研究性论文 |
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ISSN
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1009-6124 |
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学科
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自动化技术、计算机技术;水路运输 |
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基金
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国家自然科学基金
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河北省自然科学基金
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the Youth Foundation of Hebei Educational Committee
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文献收藏号
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CSCD:7238861
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参考文献 共
33
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