Cooperative Time-Varying Formation Fuzzy Tracking Control of Multiple Heterogeneous Uncertain Marine Surface Vehicles with Actuator Failures

Shanling Dong*, Kaixuan Liu, Meiqin Liu, Guanrong Chen

*Corresponding author for this work

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

19 Citations (Scopus)

Abstract

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.
Original languageEnglish
Pages (from-to)667-678
JournalIEEE Transactions on Cybernetics
Volume54
Issue number2
Online published21 Dec 2023
DOIs
Publication statusPublished - Feb 2024

Research Keywords

  • Actuator failure
  • adaptive fuzzy control
  • distributed observer
  • time-varying formation tracking

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