Distributed Formation–Containment Tracking Control for Multi-Hovercraft Systems with Compound Perturbations

Author:

Fan Zhipeng1,Xu Yujie1,Fu Mingyu1

Affiliation:

1. College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150006, China

Abstract

Aiming at the problem of hovercraft formation–containment control with compound perturbations including model uncertainties and ocean disturbances, a distributed control algorithm for underactuated hovercraft formation–containment is proposed by combining adaptive linear extended state observer (ALESO) and radial basis function neural network (RBFNN). Firstly, ALESO and RBFNN are designed to estimate the ocean disturbances and model uncertainties, respectively, for dynamic compensation in the controller. Then, the auxiliary variables are introduced into the formation error function, and the lateral and longitudinal error stabilization is transformed into the design of longitudinal force and rotational torque by using the skew-symmetric matrix transformation, which solves the lateral underactuated problem of the hovercraft. Finally, the uniform ultimate boundedness of formation–containment cooperative errors is proved by the Lyapunov stability theory. Digital simulation verifies the effectiveness of the proposed method.

Funder

National Natural Science Foundation of China

National Key Basic Strengthen Research Foundation of China

Publisher

MDPI AG

Reference30 articles.

1. Analysis and Consideration on Safety of All-lift Hovercraft;Fu;Ship Boat,2008

2. Yun, L., and Wu, C. (Ship Ocean Eng., 1997). High-performance ships for the 21st century, Ship Ocean Eng.

3. Design of driver assistance system for air cushion vehicle with uncertainty based on model knowledge neural network;Fu;Ocean Eng.,2019

4. A novel asymmetrical integral barrier Lyapunov function-based trajectory tracking control for hovercraft with multiple constraints;Fu;Ocean Eng.,2022

5. Safety-guaranteed adaptive neural motion control for a hovercraft with multiple constraints;Fu;Ocean Eng.,2021

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3