A5044714743- Adaptive Control of Nonlinear Systems
- Distributed Control Multi-Agent Systems
- Underwater Vehicles and Communication Systems
- Stability and Control of Uncertain Systems
Dalian Maritime University
2022-2024
In the presence of unmeasurable velocities and system uncertainties, distributed formation control problem is investigated in this paper for multiple vessels. A robust controller proposed by incorporating an extended state observer (ESO) finite-time prescribed performance function (FTPPF). Firstly, a nonlinear ESO designed to estimate uncertainties. Subsequently, novel FTPPF improve dynamic multi-vessel systems, where upper bound convergence time constraint bounds can be set advance based on...
This paper investigates the formation control problem of multiple vessels subject to unmeasurable velocity, environmental disturbances, and modeling uncertainties. A robust controller is designed address this problem, by incorporating prescribed performance technique dynamic surface method. Firstly, a nonlinear extended state observer constructed estimate velocity vector. Then, function introduced impose specifications in advance on output tracking errors according mission requirements....