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Distributed event-triggered adaptive output-feedback formation tracking of uncertain underactuated underwater vehicles in three-dimensional space

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  • Kim, Jin Hoe
  • Yoo, Sung Jin

Abstract

We present an adaptive-observer-based event-triggered design for distributed three-dimensional output-feedback formation tracking of multiple uncertain underactuated underwater vehicles (UUVs) under a directed network. It is assumed that all nonlinear functions of the vehicle dynamics are unknown and the velocity information of vehicles is immeasurable for feedback. Compared with existing distributed tracking results for UUVs, the primary contribution of this study is the development of a state-transformation-based adaptive observer using a time-varying scaling signal to achieve the output-feedback three-dimensional formation tracking in the presence of unknown nonlinearities and the underactuation constraint. Based on the state transformation, local adaptive observers using neural network approximators and their adaptive laws are designed to estimate local unmeasured velocities of UUV followers. By designing distributed nonlinear error functions and auxiliary stabilizing signals, local output-feedback tracking laws with triggering conditions are recursively constructed to ensure preselected formation performance while solving the underactuation problem of the UUV dynamics. It is shown that the formation tracking errors remain within pre-designable time-varying bounds and finally converge to a neighborhood of the origin. Simulation results are presented to show the effectiveness of the suggested output-feedback formation tracking strategy.

Suggested Citation

  • Kim, Jin Hoe & Yoo, Sung Jin, 2022. "Distributed event-triggered adaptive output-feedback formation tracking of uncertain underactuated underwater vehicles in three-dimensional space," Applied Mathematics and Computation, Elsevier, vol. 424(C).
    • Handle: RePEc:eee:apmaco:v:424:y:2022:i:c:s0096300322001321
    DOI: 10.1016/j.amc.2022.127046
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    References listed on IDEAS

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    1. Hao, Li-Ying & Zhang, Yu-Qing & Li, Hui, 2021. "Fault-tolerant control via integral sliding mode output feedback for unmanned marine vehicles," Applied Mathematics and Computation, Elsevier, vol. 401(C).
    2. Jin Hoe Kim & Sung Jin Yoo, 2021. "Adaptive Event-Triggered Control Strategy for Ensuring Predefined Three-Dimensional Tracking Performance of Uncertain Nonlinear Underactuated Underwater Vehicles," Mathematics, MDPI, vol. 9(2), pages 1-15, January.
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