To make USV monitor polluted areas, take into account delayed-time, input saturation, and external disturbances. A delayed fixed-time formation-control solution for unmanned surface vehicles is proposed. First, the polluted area is fitted into a polynomial function using the least-squares method, and this polynomial is taken as the target function for USVs. Next, a formation model for the USV team is established. Third, an event-triggered mechanism is introduced and a sliding-mode controller is designed. Finally, the effectiveness and robustness of the proposed multi-USV control strategy are validated through theoretical analysis and simulation experiments.
ChenHChenYWangM (2022) Trajectory tracking for underactuated surface vessels with time delays and unknown control directions. IET Control Theory & Applications16(6): 587–599.
2.
ChenHShenCHuangJ, et al. (2023a) Event-triggered model-free adaptive control for a class of surface vessels with time-delay and external disturbance via state observer. Journal of Systems Engineering and Electronics34(3): 783–797.
3.
ChenHXuRTangY, et al. (2023b) Fault-tolerant iterative learning control for batch processes with time-varying state delays and uncertainties. International Journal of Systems Science54(11): 2423–2441.
4.
ChenQZhuYXuX (2024) Direct data-driven control of discrete-time switched systems with input saturation. Discrete and Continuous Dynamical Systems - Series S17: 2872–2893.
5.
ChiRHuiYZhangS, et al. (2020) Discrete-time extended state observer-based model-free adaptive control via local dynamic linearization. IEEE Transactions on Industrial Electronics67(10): 8691–8701.
6.
DingSLiuLParkJ (2019) A novel adaptive nonsingular terminal sliding mode controller design and its application to active front steering system. International Journal of Robust and Nonlinear Control29: 4250–4269.
7.
FanLZhangL (2018) A review of fixed-time sliding mode control. Control and Decision33(7): 1229–1239.
8.
FanYQiuBLiuL, et al. (2023) Global fixed-time trajectory tracking control of underactuated usv based on fixed-time extended state observer. ISA Transactions132: 267–277.
9.
HuangWChenZTanJ (2019) Research on energy storage systems based on fixed-time sliding mode control. Power System Protection and Control47(17): 1–8.
10.
JiangXXiaGFengZ, et al. (2022) Nonfragile formation seeking of unmanned surface vehicles: a sliding mode control approach. IEEE Transactions on Network Science and Engineering9(2): 431–444.
11.
KhodabandehNGhaderiRRezaeiSM, et al. (2018) Leader-follower formation control of underactuated autonomous marine surface vehicles with limited torque. IEEE Transactions on Control Systems Technology26(2): 714–721.
12.
LiHXiePYanW (2017) Receding horizon formation tracking control of constrained underactuated autonomous underwater vehicles. IEEE Transactions on Industrial Electronics64(6): 5004–5013.
13.
LiuLWangDPengZ, et al. (2020) Cooperative path following ring-networked under-actuated autonomous surface vehicles: algorithms and experimental results. IEEE Transactions on Cybernetics50(4): 1519–1529.
14.
LiuBZhangHTMengH, et al. (2022) Scanning-chain formation control for multiple unmanned surface vessels to pass through water channels. IEEE Transactions on Cybernetics52(3): 1850–1861.
15.
NingBHanQZuoZ, et al. (2023) Fixed-time and prescribed-time consensus control of multi-agent systems and its applications: a survey of recent trends and methodologies. IEEE Transactions on Industrial Informatics19(2): 1121–1135.
16.
PengZWangJDanW (2017) Distributed containment maneuvering of multiple marine vessels via neurodynamicsbased output feedback. IEEE Transactions on Industrial Electronics64(5): 3831–3839.
17.
PolyakovA (2024) Homogeneous unit sliding mode control. IEEE Transactions on Automatic Control69: 1157–1163.
18.
ShahDMehtaAPatelK, et al. (2020) Event-triggered discrete higher-order smc for networked control system having network irregularities. IEEE Transactions on Industrial Informatics16(11): 6837–6847.
19.
ShanQWangXLiT, et al. (2023) Finite-time control for usv path tracking under input saturation with random disturbances. Applied Ocean Research138: 103628.
20.
ShaoBShenXWuY (2020) Traffic signal optimization control based on fixed-time sliding mode control. Journal of Intelligent Systems15(4): 565–573.
21.
SunZZhangGLuY, et al. (2018) Leader-follower formation control of underactuated surface vehicles based on sliding mode control and parameter estimation. ISA Transactions72: 15–24.
22.
SunYHeZXuJ, et al. (2023a) Dynamic analysis and vibration control for a maglev vehicle-guideway coupling system with experimental verification. Mechanical Systems and Signal Processing188: 109954.
23.
SunYQiangHWangL, et al. (2023b) A fuzzy-logic-system-based cooperative control for the multielectromagnets suspension system of maglev trains with experimental verification. IEEE Transactions on Fuzzy Systems31(10): 3411–3422.
24.
WangGZuoZ (2024) Consensus algorithms for double-integrator dynamics with different velocity and actuator saturation constraints. Automatica170: 111860.
25.
WangXChenCZhangH (2021) Time-varying formation control of multiple unmanned surface vessels with heterogeneous hydrodynamics subject to actuator attacks. IEEE Transactions on Cybernetics51(1): 433–443.
26.
WangGZuoZWangC (2023) Robust consensus control of second-order uncertain multiagent systems with velocity and input constraints. Automatica157: 111226.
27.
WuZZhaoM (2024) H∞ control for vehicle strings considering input saturation. Transportation Research Record.
28.
WuJLiBLiJ, et al. (2024) Global stabilization of control systems with input saturation and multiple input delays. Actuators13: 306.
29.
XiongSHouZ (2022) Data-driven formation control for unknown mimo nonlinear discrete-time multi-agent systems with sensor fault. IEEE Transactions on Neural Networks and Learning Systems33(12): 7728–7742.
30.
XuCZelazoDWuB (2024) Distributed prescribed-time coordinated control of spacecraft formation flying under input saturation. Advances in Space Research74: 2302–2315.
31.
YanZWangJ (2012) Model predictive control for tracking of underactuated vessels based on recurrent neural networks. IEEE Journal of Oceanic Engineering37(4): 717–726.
32.
YuHKrsticMPrieurC (2024) Traffic congestion control by pde backstepping. IEEE Control Systems: 119–139.
33.
ZengXMengTFuQ, et al. (2024) Robust output regulation for a flexible wing with external disturbances and input saturation. Journal of Mathematical Analysis and Applications530: 127694.
34.
ZuoZSongJTianB, et al. (2022) Robust fixed-time stabilization control of generic linear systems with mismatched disturbances. IEEE Transactions on Systems, Man, and Cybernetics: Systems52(2): 759–768.
