文献类型：期刊文献

英文题名：Distributed Prescribed Performance Formation Control for UAV-USV System Based on FEWNN

作者：Huang, Huiting[1]; Tian, Xuehong[2]; Mai, Qingqun[2]; Liu, Haitao[1]

机构：[1] School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, China; [2] Shenzhen Institute of Guangdong, Ocean University, Shenzhen, China

年份：2025

起止页码：5634

外文期刊名：Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025

收录：EI(收录号：20253519052452)

语种：英文

外文关键词：Aircraft control - Aircraft detection - Antennas - Elman neural networks - Errors - Fuzzy neural networks - Intelligent systems - System stability - Unmanned aerial vehicles (UAV) - Unmanned surface vehicles

外文摘要：This paper focuses on the trajectory tracking problem of a heterogeneous multiagent system consisting of multiple unmanned aerial vehicles (UAVs) and multiple unmanned surface vessels (USVs). A novel control method is developed for UAV-USV multiagent system under prescribed performance and external disturbances. First, a prescribed performance function and an error transformation function are designed to constrain the formation tracking errors, ensuring that errors converge within a desired region. Second, a fuzzy Elman wavelet neural network (FEWNN) is designed to approximate external disturbances that guarantee the stability of the UAV-USV system. Then, a controller based on the FEWNN is proposed to improve the robustness of the system and accomplish the specific formation. By employing the Lyapunov function, a rigorous demonstration of the system's stability has been accomplished. Finally, the feasibility of the proposed control protocol is confirmed by simulation results. ? 2025 IEEE.