Fixed-Time Formation Control for Multiple Unmanned Surface Vessel Systems with Input Delay

LI Jianxiang; ZHANG Wenle; LI Ming

doi:10.11993/j.issn.2096-3920.2024-0039

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LI Jianxiang, ZHANG Wenle, LI Ming. Fixed-Time Formation Control for Multiple Unmanned Surface Vessel Systems with Input Delay[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0039

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LI Jianxiang, ZHANG Wenle, LI Ming. Fixed-Time Formation Control for Multiple Unmanned Surface Vessel Systems with Input Delay[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0039

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Fixed-Time Formation Control for Multiple Unmanned Surface Vessel Systems with Input Delay

doi: 10.11993/j.issn.2096-3920.2024-0039

LI Jianxiang^1
,,
ZHANG Wenle^{1, 2
,},
LI Ming^{1, 2
,}

1.
College of Engineering, Ocean University of China, Qingdao 266000, China
2.
Shandong Marine Intelligent Equipment Technology Engineering Research Center, Qingdao 266000, China

Received Date: 2024-03-01
Accepted Date: 2024-05-11
Rev Recd Date: 2024-04-12

Available Online: 2025-01-20

Abstract

Abstract

In recent years, fixed-time formation control is a research hotspot for multi-unmanned surface vessel (USV) systems, and the input delay problem is one of the key scientific issues to be solved in the fixed-time formation process of multi-USV systems. In view of this, under the general directed interaction topology, this paper carries out an in-depth study on the fixed-time formation control problem of multi-USV systems containing input delay. Firstly, the Artstein reduction method is applied to transform a multi-USV system with input time delays into a disturbance-containing control system with a second-order integral form. Secondly, in order to overcome the effect of system disturbances, a fixed-time state observer is constructed to estimate the system state. It is worth mentioning that this state observer uses only the relative position information of the USV. On this basis, a distributed fixed-time formation control protocol is proposed in combination with the backstepping method to realize the fixed-time formation control of multi-USV systems containing input delays. Finally, the correctness of the proposed theoretical results is verified by simulation experiments.
- multi-unmanned surface ves sel systems,
- fixed-time formation control,
- state observer,
- input delay

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References(37)

References

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