Ying Liu

1. USV has emerged as the crucial tools for ocean exploration and research, due to its intelligence, miniaturization and lightweight design. Naderolasli (2021) proposes a developed self-tuning adap...

This paper focuses on the problem of prescribed-time adaptive formation control for unmanned surface vehicle (USV) systems under stochastic noises and switching topology. To address this, we first model the Gaussian noises as the Wiener process, allowing us to transform the control problem of USV systems into a more specific problem for stochastic systems. Next, we employ the average dwell time (ADT) method to handle the issue of communication topology switching during the forward movement of the USVs formation. Finally, by introducing an appropriate scaling function, a robust adaptive prescribed-time adaptive formation control strategy is developed for USV systems. By the aid of ADT method and Lyapunov stability theory, the developed control algorithm can demonstrate all signals of the USV systems remain mean square bounded within the prescribed time, and ensures that the follower vehicles can effectively track the leader vehicle. Furthermore, the simulation results validate the feasibility of the proposed control algorithm.

This paper studies the inverse optimal formation control problem for heterogeneous Euler-Lagrange systems. In order to reduce the impacts of surface vehicles configuration and surface vehicles type on transportation efficiency, the nonlinear terms in the system models are considered. Then, an inverse optimal formation controller is proposed by using leader-follower formation approach and the inverse optimal stability theory, which ensures all signals of considered system are semi-globally uniformly ultimately bounded (SGUUB). And the controller can also minimize the cost function. Finally, a simulation example is given to verify the effectiveness of the designed control method.