Singularity-Free Fixed-Time Cooperative Tracking Control of Unmanned Surface Vehicles with Model Uncertainties
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| Veröffentlicht in: | Journal of Marine Science and Engineering vol. 13, no. 9 (2025), p. 1791-1809 |
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MDPI AG
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| 022 | |a 2077-1312 | ||
| 024 | 7 | |a 10.3390/jmse13091791 |2 doi | |
| 035 | |a 3254561666 | ||
| 045 | 2 | |b d20250101 |b d20251231 | |
| 084 | |a 231479 |2 nlm | ||
| 100 | 1 | |a Su Yuanbo |u Navigation College, Dalian Maritime University, Dalian 116026, China; yuanbosu2019@163.com (Y.S.); peiyunye2019@gmail.com (P.Y.) | |
| 245 | 1 | |a Singularity-Free Fixed-Time Cooperative Tracking Control of Unmanned Surface Vehicles with Model Uncertainties | |
| 260 | |b MDPI AG |c 2025 | ||
| 513 | |a Journal Article | ||
| 520 | 3 | |a 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. | |
| 653 | |a Kinematics | ||
| 653 | |a Singularities | ||
| 653 | |a Control theory | ||
| 653 | |a Control algorithms | ||
| 653 | |a Speed control | ||
| 653 | |a Communication | ||
| 653 | |a Tracking control | ||
| 653 | |a Surface vehicles | ||
| 653 | |a Fuzzy logic | ||
| 653 | |a Neural networks | ||
| 653 | |a Controllers | ||
| 653 | |a Tracking | ||
| 653 | |a Design | ||
| 653 | |a Unmanned vehicles | ||
| 653 | |a Tracking errors | ||
| 653 | |a Uncertainty | ||
| 653 | |a Vehicles | ||
| 653 | |a Cooperative control | ||
| 653 | |a Environmental | ||
| 700 | 1 | |a Yu Renhai |u Navigation College, Dalian Maritime University, Dalian 116026, China; yuanbosu2019@163.com (Y.S.); peiyunye2019@gmail.com (P.Y.) | |
| 700 | 1 | |a Ye Peiyun |u Navigation College, Dalian Maritime University, Dalian 116026, China; yuanbosu2019@163.com (Y.S.); peiyunye2019@gmail.com (P.Y.) | |
| 700 | 1 | |a Li, Tieshan |u School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China; tieshanli@126.com | |
| 773 | 0 | |t Journal of Marine Science and Engineering |g vol. 13, no. 9 (2025), p. 1791-1809 | |
| 786 | 0 | |d ProQuest |t Engineering Database | |
| 856 | 4 | 1 | |3 Citation/Abstract |u https://www.proquest.com/docview/3254561666/abstract/embedded/L8HZQI7Z43R0LA5T?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text + Graphics |u https://www.proquest.com/docview/3254561666/fulltextwithgraphics/embedded/L8HZQI7Z43R0LA5T?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text - PDF |u https://www.proquest.com/docview/3254561666/fulltextPDF/embedded/L8HZQI7Z43R0LA5T?source=fedsrch |