Swarm control for multiple unmanned surface vehicles system based on state feedback controller

被引：0
|
作者：
Xia G.-Q. [1 ]
Sun X.-X. [1 ]
Ren Z.-D. [1 ]
机构：
[1] College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin
来源：
Kongzhi yu Juece/Control and Decision | 2023年 / 38卷 / 07期
关键词：
input saturation; multiple unmanned surface vehicles; state feedback controller; swarm control; time-varying environmental disturbances;
D O I：
10.13195/j.kzyjc.2021.1953
中图分类号：
学科分类号：
摘要：
In this paper, swarm control for multiple unmanned surface vehicles subject to time-varying environmental disturbances and input saturation based on state feedback controllers is studied. Firstly, to accurately measure the environmental disturbances, a finite-time disturbance observer is proposed. Then, to solve the actuator saturation, an auxiliary dynamic system is introduced. Furthermore, a state feedback controller is designed for each USV to realize the swarm control of multiple unmanned surface vehicles. The stability of the system is proved using the Lyapunov method. The effectiveness of the proposed controller is verified via simulation results. © 2023 Northeast University. All rights reserved.
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页码：2028 / 2034
页数：6
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