Tracking Control of Cooperative Marine Vehicles Under Hard and Soft Constraints
Esteban Restrepo, Josef Matouš, Kristin Ytterstad Pettersen · IEEE Transactions on Control of Network Systems · 2024
We solve the tracking-in-formation problem for a group of underactuated autonomous marine vehicles interconnected over a directed topology. The agents are subject tohardinter-agent constraints, i.e. connectivity maintenance and collision avoidance, andsoftconstraints, specifically on the non-negativity of the surge velocity, as well as to constant disturbances in the form of unknown ocean currents. The control approach is based on an input-output feedback linearization for marine vehicles and on the edge-based framework for multi-agent consensus under constraints. We establishalmost-everywhereuniform asymptotic stability of the output dynamics with guaranteed respect of the constraints. High-fidelity simulations are provided to illustrate our results.