@inproceedings{875add1ee158424c9788cf784a49d63d,
title = "Adaptive Fuzzy Output Regulation for Formation Control of Unmanned Surface Vehicles",
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.",
keywords = "Formation control, Output regulation, Adaptive fuzzy control, Unmanned surface vehicle",
author = "Shaobao Li and Er, {Meng Joo} and Ning Wang and Chiang-Ju Chien and Zhenyu Yang",
year = "2017",
month = nov,
doi = "10.1109/iFUZZY.2017.8311796",
language = "English",
isbn = "978-1-5386-2697-9",
series = "Fuzzy Theory and Its Applications",
publisher = "IEEE Press",
booktitle = "Procedings of 2017 International Conference on Fuzzy Theory and Its Applications (iFUZZY 2017)",
note = "2017 International Conference on Fuzzy Theory and Its Applications (iFUZZY 2017) ; Conference date: 12-11-2017 Through 15-11-2017",
}