Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation

Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation

This paper investigates the formation tracking control problem of a group of underactuated surface vessels (USVs) in the presence of model uncertainties and environmental disturbances. Additional constraints, such as collision avoidance, heterogeneous limited communication range and input saturation...

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Bibliographic Details
Main Authors: Guoqing Xia, Xiaoming Xia, Bo Zhao, Chuang Sun, Xianxin Sun
Format: Article
Language:English
Published: MDPI AG 2020-05-01
Series:Applied Sciences
Subjects:
collision avoidance
distributed tracking control
connectivity-preserving
underactuated surface vessel (USV)
input saturation
Online Access:https://www.mdpi.com/2076-3417/10/10/3372

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