Distributed time-varying formation control for unmanned surface vehicles guided by multiple leaders

WU Wentao, GU Nan, PENG Zhouhua*, LIU Lu, WANG Dan Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026, China

Abstract: ［Objectives］This paper investigates the distributed time-varying formation control of a swarm of under-actuated Unmanned Surface vehicles （USVs ） guided by multiple leaders in the presence of complex model uncertainties and unknown ocean disturbances.［Methods ］ At the kinematic level, distributed timevarying formation guidance laws are designed on the basis of the containment method and path maneuvering principle; at the kinetic level, the surge speed and yaw rate control laws are developed on the basis of the Extended State Observer (ESO) method such that the influences of the model uncertainties and unknown disturbances are mitigated. Further, cascade system stability analysis is undertaken, and the validity of the controller is demonstrated via a simulation. ［Results］It shows that the closed-loop distributed time-varying formation control system for USV is input-to-state stable by the cascade system stability theory. The simulation results verify the effectiveness of the control method.［Conclusions］With the proposed controller, USVs are able to achieve the predefined time-varying formation while following the convex combination of multiple leaders. Key words: under-actuated Unmanned Surface Vehicle (USV)； guidance and control law；time-varying formation control；multiple leaders；Extended State Observer (ESO)

收稿日期: 2019–09–02 修回日期: 2019–11–25 网络首发时间: 2020–03–27 14:25基金项目:国家自然科学基金资助项目(61673081，51979020)；大连市杰出青年科技人才支持计划资助项目 (2018RJ08)作者简介: 吴文涛，男，1995 年生，硕士生。研究方向：无人船集群路径控制。E-mail：wuwentaodlmu@gmail.com古楠，男，1993 年生，博士生。研究方向：无人船集群控制。E-mail：gunandlmu@gmail.com彭周华，男，1982年生，博士，教授，博士生导师。研究方向：海洋航行器制导与控制，无人船集群控制。E-mail：zhpeng@dlmu.edu.cn刘陆，1990年生，博士，讲师，硕士生导师。研究方向：无人船制导与控制，多无人船协同控制。Email：luliu@dlmu.edu.cn王丹，男，1960年生，博士，教授，博士生导师。研究方向：无人船编队控制，电力电子技术。 E-mail：dwang@dlmu.edu.cn *通信作者:彭周华