Xia, X.; Yang, Z.; Yang, T. Leader–Follower Formation Tracking Control of Underactuated Surface Vehicles Based on Event-Trigged Control. Appl. Sci.2023, 13, 7156.
Xia, X.; Yang, Z.; Yang, T. Leader–Follower Formation Tracking Control of Underactuated Surface Vehicles Based on Event-Trigged Control. Appl. Sci. 2023, 13, 7156.
Xia, X.; Yang, Z.; Yang, T. Leader–Follower Formation Tracking Control of Underactuated Surface Vehicles Based on Event-Trigged Control. Appl. Sci.2023, 13, 7156.
Xia, X.; Yang, Z.; Yang, T. Leader–Follower Formation Tracking Control of Underactuated Surface Vehicles Based on Event-Trigged Control. Appl. Sci. 2023, 13, 7156.
Abstract
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. At first, an event-trigged extended state observer (ETESO) is used to recover the velocity, yaw rate and the uncertainties. Then, an estimator is used to estimate velocity of the leader. An event-trigged controller (ETC) is constructed based on the estimator, the observer and extra variables. Specifically, extra variables are used to solve the underactuated problem and input saturation. Stability analysis of control system is given to prove all signals are bounded. Simulations demonstrate that the ETESO can estimate accurately the uncertainties, the velocity and yaw rate; the ETC can largely reduce the action times of actuator.
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