Finite-time extended state observer-based distributed formation control for marine surface vehicles with input saturation and disturbances

Abstract This paper investigates the finite-time extended state observer-based distributed formation control for marine surface vehicles with input saturation and external disturbances. Initially, a novel finite-time extended state observer is proposed to estimate the unavailable velocity measurements and external disturbances simultaneously. No longer regarding the time derivative of external disturbances as zero, the proposed finite-time extended state observer is designed by transforming the disturbances as an extended state of the system to be estimated. Then, based on the estimated values, a distributed finite-time formation controller is designed for a group of marine surface vehicles to track a time-varying virtual leader. The position state of virtual leader only can be accessed by a subset of the group members. Furthermore, a saturation function is incorporated into the controller to solve the input saturation problem. Finally, a rigorous Proof demonstrates that the finite-time stability of the proposed extended state observer and formation controller can be guaranteed by using homogeneous method and Lyapunov theory. Numerical simulations illustrate the effectiveness of the proposed formation control scheme.

[1]  Jiangping Hu,et al.  Tracking control for multi-agent consensus with an active leader and variable topology , 2006, Autom..

[2]  W. Liu,et al.  Extended state observer-based adaptive sliding mode control of differential-driving mobile robot with uncertainties , 2016 .

[3]  M. Friswell,et al.  Robust Saturated Finite Time Output Feedback Attitude Stabilization for Rigid Spacecraft , 2014 .

[4]  Kristin Ytterstad Pettersen,et al.  Straight Line Path Following for Formations of Underactuated Marine Surface Vessels , 2011, IEEE Transactions on Control Systems Technology.

[5]  Dennis S. Bernstein,et al.  Geometric homogeneity with applications to finite-time stability , 2005, Math. Control. Signals Syst..

[6]  Ning Wang,et al.  Adaptive Robust Finite-Time Trajectory Tracking Control of Fully Actuated Marine Surface Vehicles , 2016, IEEE Transactions on Control Systems Technology.

[7]  Wei Ren,et al.  Distributed coordination architecture for multi-robot formation control , 2008, Robotics Auton. Syst..

[8]  Zhihong Man,et al.  Continuous finite-time control for robotic manipulators with terminal sliding mode , 2003, Autom..

[9]  Hao Wang,et al.  Neural network based adaptive dynamic surface control for cooperative path following of marine surface vehicles via state and output feedback , 2014, Neurocomputing.

[10]  Yuh Yamashita,et al.  Lyapunov functions for homogeneous differential inclusions , 2004 .

[11]  Qinglei Hu,et al.  Relative position finite-time coordinated tracking control of spacecraft formation without velocity measurements. , 2015, ISA transactions.

[12]  Dan Wang,et al.  Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics , 2013, IEEE Transactions on Control Systems Technology.

[13]  Liang Sun,et al.  Path following control for marine surface vessel with uncertainties and input saturation , 2016, Neurocomputing.

[14]  D.L. Odell,et al.  A leader-follower algorithm for multiple AUV formations , 2004, 2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578).

[15]  Khoshnam Shojaei,et al.  Observer-based neural adaptive formation control of autonomous surface vessels with limited torque , 2016, Robotics Auton. Syst..

[16]  Shuzhi Sam Ge,et al.  Multirobot Formations Based on the Queue-Formation Scheme With Limited Communication , 2007, IEEE Transactions on Robotics.

[17]  Roger Skjetne,et al.  Nonlinear formation control of marine craft , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[18]  Yuanqing Xia,et al.  Attitude stabilization of rigid spacecraft with finite‐time convergence , 2011 .

[19]  Jawhar Ghommam,et al.  Coordinated Path-Following Control for a Group of Underactuated Surface Vessels , 2009, IEEE Transactions on Industrial Electronics.

[20]  Zongxia Jiao,et al.  Extended-State-Observer-Based Output Feedback Nonlinear Robust Control of Hydraulic Systems With Backstepping , 2014, IEEE Transactions on Industrial Electronics.

[21]  Jay A. Farrell,et al.  Formation control of multiple underactuated surface vessels , 2008 .

[22]  Khac Duc Do,et al.  Practical control of underactuated ships , 2010 .

[23]  M. Abramowitz,et al.  Handbook of Mathematical Functions With Formulas, Graphs and Mathematical Tables (National Bureau of Standards Applied Mathematics Series No. 55) , 1965 .

[24]  Yoo Sang Choo,et al.  Leader-follower formation control of underactuated autonomous underwater vehicles , 2010 .

[25]  Sanjay E. Talole,et al.  Extended-State-Observer-Based Control of Flexible-Joint System With Experimental Validation , 2010, IEEE Transactions on Industrial Electronics.

[26]  Farbod Fahimi,et al.  Sliding-Mode Formation Control for Underactuated Surface Vessels , 2007, IEEE Transactions on Robotics.

[27]  Miroslav Krstic,et al.  Robust dynamic positioning of ships with disturbances under input saturation , 2016, Autom..

[28]  Dan Wang,et al.  Adaptive dynamic surface control for cooperative path following of marine surface vehicles with input saturation , 2014 .

[29]  Lu Liu,et al.  Direct and composite iterative neural control for cooperative dynamic positioning of marine surface vessels , 2015 .

[30]  Thor I. Fossen,et al.  Ship Formation Control: A Guided Leader-Follower Approach , 2008 .

[31]  Tucker R. Balch,et al.  Behavior-based formation control for multirobot teams , 1998, IEEE Trans. Robotics Autom..

[32]  Dan Wang,et al.  Cooperative Dynamic Positioning of Multiple Marine Offshore Vessels: A Modular Design , 2016, IEEE/ASME Transactions on Mechatronics.

[33]  Ning Wang,et al.  Nonlinear disturbance observer-based backstepping finite-time sliding mode tracking control of underwater vehicles with system uncertainties and external disturbances , 2017 .

[34]  Zheping Yan,et al.  Globally finite-time stable tracking control of underactuated UUVs , 2015 .

[35]  W. Zhang,et al.  Two-time scale path following of underactuated marine surface vessels: Design and stability analysis using singular perturbation methods , 2016 .

[36]  An-Min Zou,et al.  Distributed finite-time velocity-free attitude coordination control for spacecraft formations , 2016, Autom..

[37]  Weisheng Yan,et al.  Passivity-based formation control of autonomous underwater vehicles , 2012 .

[38]  Lijun Zhang,et al.  Finite-Time Output Feedback Tracking Control for Autonomous Underwater Vehicles , 2015, IEEE Journal of Oceanic Engineering.

[39]  Thor I. Fossen,et al.  Handbook of Marine Craft Hydrodynamics and Motion Control , 2011 .

[40]  Khoshnam Shojaei,et al.  Leader–follower formation control of underactuated autonomous marine surface vehicles with limited torque , 2015 .

[41]  Yiguang Hong,et al.  Adaptive finite-time control of nonlinear systems with parametric uncertainty , 2006, IEEE Transactions on Automatic Control.

[42]  An-Min Zou,et al.  Finite-Time Output Feedback Attitude Tracking Control for Rigid Spacecraft , 2014, IEEE Transactions on Control Systems Technology.