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

Jin Hoe Kim and Sung Jin Yoo

Applied Mathematics and Computation, 2022, vol. 424, issue C

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.

Keywords: Output-feedback; Distributed three-dimensional tracking; Adaptive observer; Event-triggered; Multiple underacutated underwater vehicles (search for similar items in EconPapers)
Date: 2022
References: View references in EconPapers View complete reference list from CitEc
Citations:

Downloads: (external link)
http://www.sciencedirect.com/science/article/pii/S0096300322001321
Full text for ScienceDirect subscribers only

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:eee:apmaco:v:424:y:2022:i:c:s0096300322001321

DOI: 10.1016/j.amc.2022.127046

Access Statistics for this article

Applied Mathematics and Computation is currently edited by Theodore Simos

More articles in Applied Mathematics and Computation from Elsevier
Bibliographic data for series maintained by Catherine Liu ().