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METHOD OF COOPERATIVE FORMATION CONTROL FOR UNDERACTUATED USVS BASED ON NONLINEAR BACKSTEPPING AND CASCADE SYSTEM THEORY

Abstract

This paper presents a method for the cooperative formation control of a group of underactuated USVs. The problem of formation control is first converted to one of stabilisation control of the tracking errors of the follower USVs using system state transformation design. The followers must keep a fixed distance from the leader USV and a specific heading angle in order to maintain a certain type of formation. A global differential homeomorphism transformation is then designed to create a tracking error system for the follower USVs, in order to simplify the description of the control system. This makes the complex formation control system easy to analyse, and allows it to be decomposed into a cascaded system. In addition, several intermediate state variables and virtual control laws are designed based on nonlinear backstepping, and actual control algorithms for the follower USVs to control the surge force and yaw moment are presented. A global system that can ensure uniform asymptotic stability of the USVs’ cooperative formation control is achieved by combining Lyapunov stability theory and cascade system theory. Finally, several simulation experiments are carried out to verify the validity, stability and reliability of our cooperative formation control method.

Keywords:

unmanned surface vehicle (USV), cooperative formation control, underactuated system, nonlinear backstepping, cascade system theory

Details

Issue
Vol. 28 No. 1(109) (2021)
Section
Latest Articles
Published
30-04-2021
DOI:
https://doi.org/10.2478/pomr-2021-0014
Licencja:
Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Open Access License

This journal provides immediate open access to its content under the Creative Commons BY 4.0 license. Authors who publish with this journal retain all copyrights and agree to the terms of the CC BY 4.0 license.

 

Authors

  • Zaopeng Dong

    Key Laboratory of High Performance Ship Technology (Wuhan University of Technology); Ministry of Education Wuhan University of Technology; School of Transportation Wuhan University of Technology
  • Yang Liu

    Key Laboratory of High Performance Ship Technology (Wuhan University of Technology), Ministry of Education, Wuhan University of Technology; School of Transportation, Wuhan University of Technology
  • Hao Wang

    Key Laboratory of High Performance Ship Technology (Wuhan University of Technology), Ministry of Education, Wuhan University of Technology; School of Transportation, Wuhan University of Technology
  • Tao Qin

    School of Mechanical Engineering, Hubei University of Arts and Sciences

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