Observer-Based Platoon Formation Control With Prescribed Performance Guarantees for Unmanned Surface Vehicles in Presence of Nonsmooth Input Characteristics
Wei Wang, Xiaoyang Gao, Tieshan Li, Yang Wang, C. L. Philip Chen
Abstract
This brief focuses on the platoon formation control for a fleet of unmanned surface vehicles (USVs) with uncertain kinetics, unmeasured velocities, input saturation and dead zone to ensure collision avoidance (CA) and connectivity maintenance (CM). The prescribed performance techniques are implemented to ensure that the formation errors between each USV and its leader are constrained within predefined ranges and angle errors. This enables CA and CM to ultimately remaining within the requested line-of-sight (LOS) range. Moreover, by combining a known smooth function with the extended state observers (ESOs), which cannot only recover relevant velocity information but also compensate for the effects caused by input saturation, dead zone, uncertain kinetics and external disturbances. Consequently, this brief presents a prescribed performance formation control scheme that guarantees uniformly ultimate boundedness of the closed-loop system. Based on the simulation results, it has been confirmed that the developed control strategy is effective.