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Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation

College of Automation, Harbin Engineering University, Harbin 150001, China
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Appl. Sci. 2020, 10(10), 3372; https://doi.org/10.3390/app10103372
Received: 15 April 2020 / Revised: 6 May 2020 / Accepted: 7 May 2020 / Published: 13 May 2020
This paper investigates the formation tracking control problem of a group of underactuated surface vessels (USVs) in the presence of model uncertainties and environmental disturbances. Additional constraints, such as collision avoidance, heterogeneous limited communication range and input saturation are also considered. A modified barrier Lyapunov function (BLF) is introduced to achieve the connectivity preservation, the collision avoidance and the distributed formation tracking. Extended state observer (ESO) is employed to estimate total disturbances consisting of environmental disturbances and model uncertainties. Auxiliary variables are introduced to deal with the underactuated problem and input saturation. A distributed controller is developed for each USV. Using the Lyapunov method analyze the stability of the system, it is proven that all signals are bounded and tracking errors converge to a neighborhood of the origin. Simulation results show that the proposed controller is practicable and effective. View Full-Text
Keywords: collision avoidance; distributed tracking control; connectivity-preserving; underactuated surface vessel (USV); input saturation collision avoidance; distributed tracking control; connectivity-preserving; underactuated surface vessel (USV); input saturation
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MDPI and ACS Style

Xia, G.; Xia, X.; Zhao, B.; Sun, C.; Sun, X. Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation. Appl. Sci. 2020, 10, 3372. https://doi.org/10.3390/app10103372

AMA Style

Xia G, Xia X, Zhao B, Sun C, Sun X. Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation. Applied Sciences. 2020; 10(10):3372. https://doi.org/10.3390/app10103372

Chicago/Turabian Style

Xia, Guoqing; Xia, Xiaoming; Zhao, Bo; Sun, Chuang; Sun, Xianxin. 2020. "Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation" Appl. Sci. 10, no. 10: 3372. https://doi.org/10.3390/app10103372

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