文献类型：期刊文献

英文题名：Distributed adaptive fixed-time formation control for UAV-USV heterogeneous multi-agent systems

作者：Liu, Haitao[1,2];Weng, Peijun[1];Tian, Xuehong[1,2];Mai, Qingqun[1,2]

机构：[1]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China;[2]Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518120, Peoples R China

年份：2023

卷号：267

外文期刊名：OCEAN ENGINEERING

收录：SCI-EXPANDED(收录号：WOS:000894816300001)、、EI(收录号：20224913218205)、Scopus(收录号：2-s2.0-85143304270)、WOS

基金：This work was supported by the Key Project of Department of Edu- cation of Guangdong Province [grant number 2021ZDZX1041] and the Science and Technology Planning Project of Zhanjiang City [grant numbers 2021A05023 and2021E05012] .

语种：英文

外文关键词：Distributed formation control; Radial basis function neural networks; Fixed -time control; Nonsingular fast terminal sliding mode; Dynamic event -triggered control

外文摘要：This paper investigates formation trajectory tracking control for heterogeneous multi-agent systems with external disturbances, model uncertainties and input saturation. The system that is considered comprises one unmanned aerial vehicle (UAV) and multiple unmanned surface vessels (USVs). First, based on directed graph theory, a distributed formation control protocol is proposed for the UAV-USV heterogeneous multi-agent system. Second, combining the advantages of the adaptive technique and radial basis function (RBF) neural networks, a global fixed-time adaptive neural network nonsingular fast terminal sliding formation control protocol is designed to ensure tracking of the desired trajectory and form the predetermined formation configuration within a fixed time in the presence of various uncertainties. Through the proposed adaptive neural network (NN) control technology, the lumped uncertainty can be estimated, and the number of update parameters can be reduced, thereby relieving the calculation burden of the controllers. In addition, a dynamic event-triggered mechanism is incorporated into the controllers, which can reduce the update frequency of controllers, thereby decreasing the communication number of controllers. A saturation function is introduced simultaneously to solve the problem of input saturation. Finally, the simulation results are given to indicate the feasibility of the proposed formation control protocol.