Time-Varying Formation Control for Surface Vessels with Input Saturation
In formation control for multiple marine surface vessels,in order to make up serious uncertainties and re-duce the burden in signal measurement of controller,a time-varying control scheme is proposed in this paper.First,a smooth function is introduced to deal with the saturation constraint,while a state transformation with a key time-varying gain is introduced to change the tracking of the original system into the stabilization of a time-varying system.Then,by the vector backstepping method,a time-varying feedback controller is explicitly designed which guarantees that all the states of the resulting closed-loop system are bounded while all the follower vessels asymptoti-cally track the leader vessel with an expected time-varying formation pattern.Finally,simulation results are provid-ed to validate the effectiveness of the proposed theoretical results.
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