Adaptive Fuzzy Backstepping-Based Formation Control of Unmanned Surface Vehicles with Unknown Model Nonlinearity and Actuator Saturation

Weixiang Zhou; Yueying Wang; Choon Ki Ahn; Jun Cheng; Chaoyang Chen

doi:10.1109/TVT.2020.3039220

Adaptive Fuzzy Backstepping-Based Formation Control of Unmanned Surface Vehicles with Unknown Model Nonlinearity and Actuator Saturation

Weixiang Zhou, Yueying Wang, Choon Ki Ahn, Jun Cheng, Chaoyang Chen

Research output: Contribution to journal › Article › peer-review

144 Citations (Scopus)

Abstract

In this article, the formation control of unmanned surface vehicles (USVs) is addressed considering actuator saturation and unknown nonlinear items. The algorithm can be divided into two parts, steering the leader USV to trace along the desired path and steering the follower USV to follow the leader in the desired formation. In the proposed formation control framework, a virtual USV is first constructed so that the leader USV can be guided to the desired path. To solve the input constraint problem, an auxiliary is introduced, and the adaptive fuzzy method is used to estimate unknown nonlinear items in the USV. To maintain the desired formation, the desired velocities of follower USVs are deduced using geometry and Lyapunov stability theories; the stability of the closed-loop system is also proved. Finally, the effectiveness of the proposed approach is demonstrated by the simulation and experimental results.

Original language	English
Article number	9264726
Pages (from-to)	14749-14764
Number of pages	16
Journal	IEEE Transactions on Vehicular Technology
Volume	69
Issue number	12
DOIs	https://doi.org/10.1109/TVT.2020.3039220
Publication status	Published - 2020 Dec

Bibliographical note

Funding Information:
Manuscript received April 16, 2020; revised July 23, 2020 and October 27, 2020; accepted November 15, 2020. Date of publication November 19, 2020; date of current version January 22, 2021. This work was supported in part by the National Natural Science Foundation of China under Grants 61703275, 61673178, and 61973110, in part by the National Key R&D Program of China for International S&T Cooperation Projects under Grant 2019YFE0118700, in part by the Hunan Young Talents Science and Technology Innovation Project under Grant 2020RC3048, and in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science and ICT) (No. NRF-2020R1A2C1005449). The review of this article was coordinated by Dr. Wei Xu. (Corresponding authors: Yueying Wang; Choon Ki Ahn.) Weixiang Zhou is with the College of Information Engineering, Shanghai Maritime University, Shanghai 201306, China (e-mail: [email protected]).

Publisher Copyright:
© 1967-2012 IEEE.

Keywords

Backstepping control
formation control
fuzzy logic system
input constraints
unknown model nonlinearity
unmanned surface vehicle

ASJC Scopus subject areas

Automotive Engineering
Aerospace Engineering
Electrical and Electronic Engineering
Applied Mathematics

Access to Document

10.1109/TVT.2020.3039220

Cite this

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title = "Adaptive Fuzzy Backstepping-Based Formation Control of Unmanned Surface Vehicles with Unknown Model Nonlinearity and Actuator Saturation",

abstract = "In this article, the formation control of unmanned surface vehicles (USVs) is addressed considering actuator saturation and unknown nonlinear items. The algorithm can be divided into two parts, steering the leader USV to trace along the desired path and steering the follower USV to follow the leader in the desired formation. In the proposed formation control framework, a virtual USV is first constructed so that the leader USV can be guided to the desired path. To solve the input constraint problem, an auxiliary is introduced, and the adaptive fuzzy method is used to estimate unknown nonlinear items in the USV. To maintain the desired formation, the desired velocities of follower USVs are deduced using geometry and Lyapunov stability theories; the stability of the closed-loop system is also proved. Finally, the effectiveness of the proposed approach is demonstrated by the simulation and experimental results.",

keywords = "Backstepping control, formation control, fuzzy logic system, input constraints, unknown model nonlinearity, unmanned surface vehicle",

author = "Weixiang Zhou and Yueying Wang and Ahn, {Choon Ki} and Jun Cheng and Chaoyang Chen",

note = "Funding Information: Manuscript received April 16, 2020; revised July 23, 2020 and October 27, 2020; accepted November 15, 2020. Date of publication November 19, 2020; date of current version January 22, 2021. This work was supported in part by the National Natural Science Foundation of China under Grants 61703275, 61673178, and 61973110, in part by the National Key R&D Program of China for International S&T Cooperation Projects under Grant 2019YFE0118700, in part by the Hunan Young Talents Science and Technology Innovation Project under Grant 2020RC3048, and in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science and ICT) (No. NRF-2020R1A2C1005449). The review of this article was coordinated by Dr. Wei Xu. (Corresponding authors: Yueying Wang; Choon Ki Ahn.) Weixiang Zhou is with the College of Information Engineering, Shanghai Maritime University, Shanghai 201306, China (e-mail: [email protected]). Publisher Copyright: {\textcopyright} 1967-2012 IEEE.",

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N2 - In this article, the formation control of unmanned surface vehicles (USVs) is addressed considering actuator saturation and unknown nonlinear items. The algorithm can be divided into two parts, steering the leader USV to trace along the desired path and steering the follower USV to follow the leader in the desired formation. In the proposed formation control framework, a virtual USV is first constructed so that the leader USV can be guided to the desired path. To solve the input constraint problem, an auxiliary is introduced, and the adaptive fuzzy method is used to estimate unknown nonlinear items in the USV. To maintain the desired formation, the desired velocities of follower USVs are deduced using geometry and Lyapunov stability theories; the stability of the closed-loop system is also proved. Finally, the effectiveness of the proposed approach is demonstrated by the simulation and experimental results.

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Adaptive Fuzzy Backstepping-Based Formation Control of Unmanned Surface Vehicles with Unknown Model Nonlinearity and Actuator Saturation

Abstract

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Keywords

ASJC Scopus subject areas

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