Leader-Follower Formation Control of Uncertain USV Networks under Stochastic Disturbances
سال انتشار: 1401
نوع سند: مقاله ژورنالی
زبان: انگلیسی
مشاهده: 183
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شناسه ملی سند علمی:
JR_IECO-5-2_003
تاریخ نمایه سازی: 20 تیر 1401
چکیده مقاله:
The robust adaptive leader-follower formation control of uncertain unmanned surface vehicles (USVs) subject to stochastic environmental loads is investigated in this paper. The stochastic additive noises are included in the kinematics which stands for the un-modeled dynamics and uncertainty. The disturbances induced by waves, wind and ocean currents in the kinetics are also separated into deterministic and stochastic components. A comprehensive model including kinematics and kinetics of each USV agent is then derived as stochastic differential equations including standard Wiener processes. Thus, the problem formulation is much more challenging and practical since both the exogenous disturbances and kinematics states are defined by stochastic differential equations. In order to guarantee that all the tracking errors converge to a ball centered at the origin in probability, quartic Lyapunov functions synthesis, dynamic surface control (DSC) technique, the projection algorithm, and neural networks (NNs) are employed. Finally, the simulation experiments quantify the effectiveness of proposed approach.
کلیدواژه ها:
Dynamic Surface Control (DSC) ، Formation Control ، Robust Adaptive Control ، Stochastic Nonlinear Systems ، Unmanned Surface Vehicles (USVs)
نویسندگان
Ali Azarbahram
Department of Electrical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
Naser Pariz
Ferdowsi University of Mashhad
Mohammad Bagher Naghibi-Sistani
Electrical department, Faculty of Engineering, Ferdowsi University of Mashhad
Reihaneh Kardehi Moghaddam
Department of Electrical Engineering, Mashhad Branch, Islamic Azad University, Mashhad, Iran