Command filtered finite-time formation tracking control of AUVs with unknown control directions

被引：24

作者：

Gao, Zhenyu ^{[1
]}

Guo, Ge ^{[1
,2
]}

机构：

[1] Northeastern Univ Qinhuangdao, Sch Control Engn, Qinhuangdao 066004, Hebei, Peoples R China

[2] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110819, Peoples R China

来源：

IET CONTROL THEORY AND APPLICATIONS | 2020年 / 14卷 / 13期

关键词：

closed loop systems; adaptive control; nonlinear control systems; control nonlinearities; mobile robots; control system synthesis; position control; multi-robot systems; uncertain systems; stability; autonomous underwater vehicles; compensator-based command filter technique; virtual control signals; finite settling time; AUVs; unknown control directions; command filtered finite-time formation tracking control; Nussbaum gain technique; explosion of complexity issue; backstepping control; closed-loop system; AUTONOMOUS UNDERWATER VEHICLES; FOLLOWER FORMATION CONTROL; DIFFERENTIATION; SPACECRAFT;

D O I：

10.1049/iet-cta.2019.0537

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 study investigates a formation control problem of autonomous underwater vehicles (AUVs) with unknown control directions. By employing the Nussbaum gain technique to deal with the unknown control directions, a finite-time formation control approach is proposed. To deal with the so-called 'explosion of complexity' issue in backstepping control, a compensator-based command filter technique is introduced to realise the derivative of virtual control signals. With the proposed method, the formation can be achieved within a finite settling time and all signals in the closed-loop system are uniformly bounded. The effectiveness and performance is demonstrated by numerical simulations.

引用

页码：1744 / 1751

页数：8

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