Robust Nonlinear Multiple Unmanned Surface Vessels Control Against Probabilistic Faults and Time-Varying Delay

被引：2
|
作者：
Yue, Wei [1 ,2 ]
Guan, Xianhe [1 ]
Wang, Liyuan [2 ]
机构：
[1] Dalian Maritime Univ, Coll Marine Elect Engn, Dalian 116026, Peoples R China
[2] State Ethn Affairs Commiss, Key Lab Intelligent Percept & Adv Control, Dalian 116026, Peoples R China
来源：
IEEE ACCESS | 2019年 / 7卷
关键词：
Actuator faults; mesh stability; multiple unmanned surface vessel; time-varying delay; ADAPTIVE CRUISE CONTROL; TRACKING CONTROL; SYSTEMS;
D O I：
10.1109/ACCESS.2019.2939561
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 is concerned with robust nonlinear control for multiple unmanned surface vessel (MUSV) systems. Firstly, a mixed nonlinear model was built, in which the probabilistic actuator and fault time-varying communication delay was considered. On the basis of the new model, a robust nonlinear control approach by utilizing Lyapunov-Krosovskii functional is proposed, which can robustly stabilize the MUSV system with a given level of disturbance attenuation ensure the MUSV can track well. Furthermore, additional conditions were established for the designed controller to guaranteeing mesh stability. Eventually, the superiority and effectiveness of the proposed control strategies are verified by numerical simulation.
引用
收藏
页码：143263 / 143272
页数：10
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