Formation Control of Unmanned Surface Vehicle for Actuator Failure

被引：0

作者：

Fan, Yunsheng ^{[1
,2
]}

Shen, Xinle ^{[1
]}

Mu, Dongdong ^{[1
,2
]}

Wang, Guofeng ^{[1
,2
]}

Zhao, Yongsheng ^{[1
,2
]}

机构：

[1] Dalian Maritime Univ, Coll Marine Elect Engn, Dalian 116026, Peoples R China

[2] Key Lab Technol & Syst Intelligent Ships Liaoning, Dalian 116026, Peoples R China

来源：

2022 34TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2022年

基金：

中国国家自然科学基金;

关键词：

actuator fhilure; disturbance observer; formation control; FAULT-TOLERANT CONTROL; LARGE-SCALE SYSTEMS; TRAJECTORY TRACKING; VESSELS;

D O I：

10.1109/CCDC55256.2022.10033794

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper solves formation control problem for unmanned surface vehicle (USV) under actuator failure. Based on virtual pilot-following control strategy and adopting the guidance law, an adaptive backstepping control formation strategy based on a nonlinear disturbance observer is proposed. Taking into account the influence of external disturbances on the navigation of the USV, a nonlinear disturbance observer is designed to estimate and compensate in the control law. A robust term is designed to compensate the actuator fault parameters and effectively solve the problem of USVs formation stability control under actuator faults. Taking into account the jamming of the actuators, the formation needs to be reconstructed to change the formation to ensure the smooth progress of the formation task. The simulation proved the effective operation of the formation control strategy.

引用

页码：3944 / 3949

页数：6

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