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Terminal sliding-mode disturbance observer-based finite-time adaptive-neural formation control of autonomous surface vessels under output constraints

Published online by Cambridge University Press:  12 September 2022

Amir Naderolasli ,
Khoshnam Shojaei Open the ORCID record for Khoshnam Shojaei [Opens in a new window]  and
Abbas Chatraei
Amir Naderolasli
Affiliation:
Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran
Khoshnam Shojaei*
Affiliation:
Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran Digital Processing and Machine Vision Research Center, Najafabad Branch, Islamic Azad University, Najafabad, Iran
Abbas Chatraei
Affiliation:
Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran Digital Processing and Machine Vision Research Center, Najafabad Branch, Islamic Azad University, Najafabad, Iran
*
*Corresponding author. E-mail: khoshnam.shojaee@gmail.com
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Abstract

This paper proposes a tracking controller for the formation construction of multiple autonomous surface vessels (ASVs) in the presence of model uncertainties and external disturbances with output constraints. To design a formation control system, the leader-following strategy is adopted for each ASV. A symmetric barrier Lyapunov function (BLF), which advances to infinity when its arguments reach a finite limit, is applied to prevent the state variables from violating constraints. An adaptive-neural technique is employed to compensate uncertain parameters and unmodeled dynamics. To overcome the explosion of differentiation term problem, a first-order filter is proposed to realize the derivative of virtual variables in the dynamic surface control (DSC). To estimate the leader velocity in finite time, a high-gain observer is effectively employed. This approach is adopted to reveal all signals of the closed-loop system which are bounded, and the formation tracking errors are semi-globally finite-time uniformly bounded. The computer simulation results demonstrate the efficacy of this newly proposed formation controller for the autonomous surface vessels.

Keywords

disturbance observerdynamic surface controlfinite-timeformation controlleader-followeroutput constraints

Information

Type
Research Article
Information
Robotica , Volume 41 , Issue 1 , January 2023 , pp. 236 - 258
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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