Adaptive Fuzzy Output Regulation for Formation Control of Unmanned Surface Vehicles

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Abstract

In this paper, the formation control problem of unmanned surface vehicles (USVs) is investigated. Unlike the classical formation control problem where the reference signal is required to be second-order differentiable with respect to time, we consider a more general autonomous dynamic system as the reference system. A novel adaptive fuzzy output regulation approach is presented to solve the formation control problem, where a set of regulator equations using only approximation information and a distributed observer are constructed to obtain the feedforward information of the reference system. Based upon this, a distributed adaptive fuzzy control law is designed by using the backstepping technique. It is shown that USVs can effectively achieve the desired formation with the tracking error being adjusted as small as possible. Simulation studies demonstrate that the proposed formation control law is effective and efficient.
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Detaljer

In this paper, the formation control problem of unmanned surface vehicles (USVs) is investigated. Unlike the classical formation control problem where the reference signal is required to be second-order differentiable with respect to time, we consider a more general autonomous dynamic system as the reference system. A novel adaptive fuzzy output regulation approach is presented to solve the formation control problem, where a set of regulator equations using only approximation information and a distributed observer are constructed to obtain the feedforward information of the reference system. Based upon this, a distributed adaptive fuzzy control law is designed by using the backstepping technique. It is shown that USVs can effectively achieve the desired formation with the tracking error being adjusted as small as possible. Simulation studies demonstrate that the proposed formation control law is effective and efficient.
OriginalsprogEngelsk
TitelProcedings of 2017 International Conference on Fuzzy Theory and Its Applications (iFUZZY 2017)
Antal sider6
ForlagIEEE Press
Publikationsdatonov. 2017
ISBN (Trykt)978-1-5386-2697-9
ISBN (Elektronisk)978-1-5386-2696-2
DOI
StatusUdgivet - nov. 2017
PublikationsartForskning
Peer reviewJa
Begivenhed2017 International Conference on Fuzzy Theory and Its Applications (iFUZZY 2017) - Taiwan, Kina
Varighed: 12 nov. 201715 nov. 2017

Konference

Konference2017 International Conference on Fuzzy Theory and Its Applications (iFUZZY 2017)
LandKina
ByTaiwan
Periode12/11/201715/11/2017
NavnFuzzy Theory and Its Applications
ISSN2377-5831

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