Cascade-Based Control for Distributed Consensus Tracking of Multi-USV Systems Under Sampled-Data Interaction
Jinbo Hu, Zhi‐Wei Liu, Ming‐Feng Ge · 2018
We proposed a cascade-based control for the consensus tracking problem of multiple underactuated surface vessels (USVs) with uncertainties and the environment disturbance under sampled-data interaction. The proposed control contains two parts. The frist part is a second-order distributed estimator which is designed to obtain the estimate position of the leader. Thus the leader-follower problem become as an estimate trajectory tracking problem. The second part is the local control law of the USV which is designed based on the estimate position by using sliding mode and backstepping methods to achieve the consensus tracking. In terms of Lyapunov and graph theory, several sufficient conditions are given to ensure the consensus tracking of the multi-USV system. Besides, the tracking error can be arbitrary small if we choose proper parameters in the control input and the distributed estimator.