TY - JOUR
T1 - Cooperative Time-Varying Formation Fuzzy Tracking Control of Multiple Heterogeneous Uncertain Marine Surface Vehicles with Actuator Failures
AU - Dong, Shanling
AU - Liu, Kaixuan
AU - Liu, Meiqin
AU - Chen, Guanrong
PY - 2024/2
Y1 - 2024/2
N2 - This article addresses the cooperative time-varying formation fuzzy tracking control problem for a cluster of heterogeneous multiple marine surface vehicles subject to unknown nonlinearity and actuator failures. The proposed cooperative control scheme consists of two parts: 1) a distributed time-varying formation observer and 2) a decentralized adaptive fuzzy tracking controller. The distributed observer is designed to obtain a predefined time-varying formation pattern under a directed communication topology. Subsequently, based on the states of the distributed observer, a decentralized fuzzy tracking control law is developed using fuzzy-logic systems and the adaptive approach. Lyapunov functions are constructed to guarantee that the controlled marine vehicles attain the desired time-varying formation with asymptotical stability of tracking errors. Finally, simulation results are presented to validate the efficacy of the proposed control methodology. © 2013 IEEE.
AB - This article addresses the cooperative time-varying formation fuzzy tracking control problem for a cluster of heterogeneous multiple marine surface vehicles subject to unknown nonlinearity and actuator failures. The proposed cooperative control scheme consists of two parts: 1) a distributed time-varying formation observer and 2) a decentralized adaptive fuzzy tracking controller. The distributed observer is designed to obtain a predefined time-varying formation pattern under a directed communication topology. Subsequently, based on the states of the distributed observer, a decentralized fuzzy tracking control law is developed using fuzzy-logic systems and the adaptive approach. Lyapunov functions are constructed to guarantee that the controlled marine vehicles attain the desired time-varying formation with asymptotical stability of tracking errors. Finally, simulation results are presented to validate the efficacy of the proposed control methodology. © 2013 IEEE.
KW - Actuator failure
KW - adaptive fuzzy control
KW - distributed observer
KW - time-varying formation tracking
UR - http://www.scopus.com/inward/record.url?scp=85181809609&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85181809609&origin=recordpage
U2 - 10.1109/TCYB.2023.3336737
DO - 10.1109/TCYB.2023.3336737
M3 - RGC 21 - Publication in refereed journal
C2 - 38127616
SN - 2168-2267
VL - 54
SP - 667
EP - 678
JO - IEEE Transactions on Cybernetics
JF - IEEE Transactions on Cybernetics
IS - 2
ER -