Sie befinden Sich nicht im Netzwerk der Universität Paderborn. Der Zugriff auf elektronische Ressourcen ist gegebenenfalls nur via VPN oder Shibboleth (DFN-AAI) möglich. mehr Informationen...
To investigate the formation tracking control problem of networked unmanned surface vessels (USVs) under a directed graph, this article provides a prescribed-time distributed cooperative formation tracking control scheme that specifies tracking error convergence time in advance. Firstly, aiming at the unknown state of the leading USV, a distributed prescribed-time state observer is designed for the following USVs, which can quickly and accurately estimate the position and speed of the leading USV in a prescribed time. Then, based on the state observer, the prescribed-time sliding surface is designed, and the prescribed-time cooperative formation tracking controller is constructed using the prescribed-time sliding mode surface. In addition, a fast adaptive compensation law is developed to mitigate the issue of input saturation. The analysis based on Lyapunov theory displays that the upper bounds of the convergence time of the observer, the sliding mode surface, and the controller proposed in this study explicitly exist in the controller parameters, so they can be easily adjusted in the control design process and are not restricted by the initial state. Finally, the simulation results demonstrate that the proposed approach exhibits high reliability and effectiveness.
•A distributed prescribed-time state observer is designed to obtain the leading USV's position and velocity.•A distributed prescribed-time formation tracking control scheme is proposed based on sliding mode control and prescribed-time control.•A fast adaptive compensation law is provided to deal with the issue of input saturation.