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Get Free AccessThis article addresses the cooperative time-varying formation fuzzy tracking control problem for a cluster of heterogeneous multiple marine surface vehicles subject to unknown nonlinearity and actuator failures. The proposed cooperative control scheme consists of two parts: 1) a distributed time-varying formation observer and 2) a decentralized adaptive fuzzy tracking controller. The distributed observer is designed to obtain a predefined time-varying formation pattern under a directed communication topology. Subsequently, based on the states of the distributed observer, a decentralized fuzzy tracking control law is developed using fuzzy-logic systems and the adaptive approach. Lyapunov functions are constructed to guarantee that the controlled marine vehicles attain the desired time-varying formation with asymptotical stability of tracking errors. Finally, simulation results are presented to validate the efficacy of the proposed control methodology.
Shanling Dong, Kaixuan Liu, Meiqin Liu, Guanrong Chen (2023). Cooperative Time-Varying Formation Fuzzy Tracking Control of Multiple Heterogeneous Uncertain Marine Surface Vehicles With Actuator Failures. IEEE Transactions on Cybernetics, 54(2), pp. 667-678, DOI: 10.1109/tcyb.2023.3336737.
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Type
Article
Year
2023
Authors
4
Datasets
0
Total Files
0
Language
English
Journal
IEEE Transactions on Cybernetics
DOI
10.1109/tcyb.2023.3336737
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