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Time-varying formation control of multiple unmanned surface vessels with heterogeneous hydrodynamics subject to actuator attacks

Author

Listed:
  • Li, Lili
  • Tuo, Yulong
  • Li, Tieshan
  • Tong, Meijuan
  • Wang, Shasha

Abstract

This paper studies the time-varying formation for multiple unmanned surface vessels (USVs) with heterogeneous hydrodynamics under actuator attacks. Firstly, the distributed time-varying formation is achieved under a formation feasibility condition. Secondly, an extended state observer (ESO) is devised to estimate the heterogeneous hydrodynamics and the external time-varying disturbance of multiple USVs, as well as the unknown control input of the leader USV simultaneously based on the neighbor USVs’ relative information; Thirdly, a distributed security controller is jointly designed based on the relative information of neighbors with the presence of an additive adaptive correction term to suppress the effects of actuator attacks instead of redesigning the nominal controller; Finally, the effectiveness of the derived theoretical method is demonstrated by simulation results.

Suggested Citation

  • Li, Lili & Tuo, Yulong & Li, Tieshan & Tong, Meijuan & Wang, Shasha, 2022. "Time-varying formation control of multiple unmanned surface vessels with heterogeneous hydrodynamics subject to actuator attacks," Applied Mathematics and Computation, Elsevier, vol. 422(C).
    • Handle: RePEc:eee:apmaco:v:422:y:2022:i:c:s009630032200073x
    DOI: 10.1016/j.amc.2022.126987
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    References listed on IDEAS

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    1. Yang, Yi & Chen, Fei & Lang, Jiahong & Chen, Xiangyong & Wang, Jing, 2021. "Sliding mode control of persistent dwell-time switched systems with random data dropouts," Applied Mathematics and Computation, Elsevier, vol. 400(C).
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    Cited by:

    1. Guo, Xinchen & Wei, Guoliang, 2023. "Distributed sliding mode consensus control for multiple discrete-Time Euler-Lagrange systems," Applied Mathematics and Computation, Elsevier, vol. 446(C).
    2. Jingchen Wang & Qihe Shan & Jun Zhu & Xiaofeng Cheng & Baoze Wei, 2023. "Algebraic-Connectivity-Based Multi-USV Distributed Formation Method via Adding a Reverse Edge," Mathematics, MDPI, vol. 11(13), pages 1-22, June.

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