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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
1. Verfasser: Su Yuanbo
Weitere Verfasser: Yu Renhai, Ye Peiyun, Li, Tieshan
Veröffentlicht:
MDPI AG
Schlagworte:
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
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Abstract: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
Quelle:Engineering Database