Adaptive Time-Varying Formation Control of ASVs with Model Uncertainties and External Disturbances Under Directed Topology*
- Resource Type
- Conference
- Authors
- Zhang, Xuxi; Chi, Jiahui; Liu, Xianping
- Source
- 2023 China Automation Congress (CAC) Automation Congress (CAC), 2023 China. :7956-7960 Nov, 2023
- Subject
- Aerospace
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Adaptation models
Uncertainty
Backstepping
Shape
Directed graphs
Radial basis function networks
Formation control
Adaptive
Time-varying formation
Directed graph
- Language
- ISSN
- 2688-0938
In this brief, the time-varying formation control problem of autonomous surface vessels with model uncertainties and external disturbances is investigated under directed graph. Based on the backstepping method and dynamic surface control, a novel virtual control law is designed. Radial basis function neural network is utilized to deal with the model uncertainties exist in ASV system. Two different adaptive laws and a formation controller are proposed. It is proved that all signals in closed-loop system are semi-global uniformly ultimately bounded. A simulation is presented to validate the effectiveness of theoretical results.