Adaptive Fuzzy Predefined-Time Cooperative Formation Control for Multiple USVs With Universal Global Performance Constraints

Xiaona Song; Chenglin Wu; Hak-Keung Lam; Xin Wang; Shuai Song

doi:10.1109/TITS.2025.3547955

Adaptive Fuzzy Predefined-Time Cooperative Formation Control for Multiple USVs With Universal Global Performance Constraints

Xiaona Song, Chenglin Wu, Hak-Keung Lam, Xin Wang, Shuai Song

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Abstract

The problem of predefined-time cooperative formation control for multiple unmanned surface vehicles with sensor faults and universal global performance constraints is investigated in this paper. Initially, a generic performance constraint strategy is proposed by integrating an improved global performance function, which eliminates the subpar reconfigurability present in the specific performance function-based global constraint schemes. By embedding the saturation compensation function, a feedback mechanism between the saturation constraint and performance constraint is established, instead of cutting off the analysis separately, by giving the constraint boundaries the flexibility to expand and contract. Subsequently, the inherently unmodeled dynamics and uncertainties of the controlled vehicle are reconstructed online by interval type-2 fuzzy logic systems. By integrating the predefined-time differentiator into the recursive design framework, an adaptive fuzzy predefined-time formation protocol is developed to provide a streamlined solution for adjusting the settling time and facilitates engineering implementation. The stability analysis rigorously proves that all the variables are practical predefined-time bounded. The illustrative results verify the feasibility and functionality of the developed formation control strategy.

Original language	English
Journal	IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Early online date	14 Mar 2025
DOIs	https://doi.org/10.1109/TITS.2025.3547955
Publication status	E-pub ahead of print - 14 Mar 2025

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10.1109/TITS.2025.3547955

Adaptive Fuzzy Predefined-Time_SONG_Publishedonline16march2025_GREEN_AAM (CC BY)Accepted author manuscript, 4.32 MBLicence: CC BY

https://ieeexplore.ieee.org/document/10927028

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abstract = "The problem of predefined-time cooperative formation control for multiple unmanned surface vehicles with sensor faults and universal global performance constraints is investigated in this paper. Initially, a generic performance constraint strategy is proposed by integrating an improved global performance function, which eliminates the subpar reconfigurability present in the specific performance function-based global constraint schemes. By embedding the saturation compensation function, a feedback mechanism between the saturation constraint and performance constraint is established, instead of cutting off the analysis separately, by giving the constraint boundaries the flexibility to expand and contract. Subsequently, the inherently unmodeled dynamics and uncertainties of the controlled vehicle are reconstructed online by interval type-2 fuzzy logic systems. By integrating the predefined-time differentiator into the recursive design framework, an adaptive fuzzy predefined-time formation protocol is developed to provide a streamlined solution for adjusting the settling time and facilitates engineering implementation. The stability analysis rigorously proves that all the variables are practical predefined-time bounded. The illustrative results verify the feasibility and functionality of the developed formation control strategy.",

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Adaptive Fuzzy Predefined-Time Cooperative Formation Control for Multiple USVs With Universal Global Performance Constraints

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