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Singularity-Free Fixed-Time Cooperative Tracking Control of Unmanned Surface Vehicles with Model Uncertainties

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Publicat a:Journal of Marine Science and Engineering vol. 13, no. 9 (2025), p. 1791-1809
Autor principal: Su Yuanbo
Altres autors: Yu Renhai, Ye Peiyun, Li, Tieshan
Publicat:
MDPI AG
Matèries:
Kinematics
Singularities
Control theory
Control algorithms
Speed control
Communication
Tracking control
Surface vehicles
Fuzzy logic
Neural networks
Controllers
Tracking
Design
Unmanned vehicles
Tracking errors
Uncertainty
Vehicles
Cooperative control
Environmental
Accés en línia:Citation/Abstract
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Resum:This article addresses the problem of singularity-free fixed-time tracking control for multiple unmanned surface vehicles (USVs) with model uncertainties. To compensate for the uncertain nonlinearities in the multi-USV systems, fuzzy logic approximators are employed to estimate unknown hydrodynamic parameters. By integrating adaptive fixed-time control theory with backstepping methodology, a novel singularity-free fixed-time consensus control scheme is developed, incorporating a error switching mechanism to prevent singularities arising from the differentiation of speed control laws. Through rigorous analysis via fixed-time stability theory, the proposed control scheme guarantees that consensus tracking errors reach a small region around zero within fixed-time. Numerical simulations demonstrate the efficacy of the presented method.
ISSN:2077-1312
DOI:10.3390/jmse13091791
Font:Engineering Database