Distributed finite-time adaptive consensus tracking control for multiple AUVs with state constraints |
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| Institution: | 1. School of Automation, Qingdao University, Qingdao 266071, PR China;2. Shandong Key Laboratory of Industrial Control Technology, Qingdao University, Qingdao 266071, PR China;1. School of Automation, Qingdao University, China;2. Institute of Artificial Intelligence and Future Networks, Beijing Normal University, Zhuhai, China;1. College of Science, Huazhong Agricultural University, Wuhan 430070, China;2. Department of Mathematics, City University of Hong Kong, Hong Kong, China |
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| Abstract: | Aiming at the consensus tracking control problem of multiple autonomous underwater vehicles (AUVs) with state constraints, a new neural network (NN) and barrier Lyapunov function based finite-time command filtered backstepping control scheme is proposed. The finite-time command filter is utilized to filtering the virtual control signal, the error compensation signal is constructed to eliminate filtering error due to the use of filter, and the NN approximation technology is used to deal with the unknown nonlinear dynamics. The control scheme can guarantee that the consensus tracking errors of position states converge into the desired neighborhood of the origin in finite-time while not exceeding the predefined constraints. Finally, simulation studies prove the feasibility of proposed control algorithm. |
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