Global finite-time control for coordinated path following of multiple underactuated unmanned surface vehicles along one curve under directed topologies. (1st October 2021)

• Record Type: Journal Article
• Authors: Li, Mingcong; Guo, Chen; Yu, Haomiao
• Is Part Of: Ocean engineering. Volume 237(2021)
• Publication Date: 2021-10-01
• Subjects: Coordinated path following -- Sliding mode -- Finite-time control -- Actuator saturation; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2021.109608
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: This paper focuses on the problem of coordinated path following for underactuated unmanned surface vehicles (USVs) based on distributed control with directed topologies. First, a finite-time extended state observer is presented to estimate the velocities and model uncertainties, simultaneously. Second, a finite-time line-of-sight based guidance law is proposed for individual USV in kinematic loop to track the desired path. Specifically, a cooperative update law for the path variable is designed under one-way communication, such that all USVs maintain the same distance from each other along one curve, following a virtual leader. Then, a control subsystem is proposed by combining a novel auxiliary dynamic system and sliding mode technique for each vehicle at the kinetic level, where the auxiliary dynamic system is developed to ensure the finite-time stability of the entire system while to solve saturation problem. The closed-loop system is verified to be uniformly global finite-time stable. Finally, the numerical simulations substantiates the feasibility of the proposed coordinated path following strategy. Graphical abstract: Highlights: The cooperation problem along one curve under one-way communication is investigated. A novel auxiliary system is designed for USV to solve the saturation problem. The uniformly global finite-time stability of the closed-loop system is guaranteed.