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This paper addresses robust leader-follower formation control problem with prescribed performance and collision avoidance for a group of fully actuated unmanned surface vehicles (USVs). The dynamic surface control (DSC) technique is employed to introduce a first-order low-pass filter in the kinematic design such that the utilization on the leader vehicle's acceleration is avoided in the kinetics control...
This paper studies the tracking control problem for underactuated surface vessel with unknown time-varying disturbances. To avoid the controller singularity problem, the constraints on output tracking errors of underactuated surface vessel are enforced in the control design. With the help of error transformation functions, the constrained tracking control of the vessel is converted into the stabilization...
This paper addresses the problem of robust stability of discrete-time switched systems with time-varying delays and polytopic uncertainties. It is supposed that the switched systems are composed of both stable and unstable subsystems. Delay-dependent sufficient conditions for robust exponential stability are proposed by employing parameter-dependent piecewise Lyapunov-like functional combined with...
This paper investigates the problems of robust Hinfin performance analysis and control synthesis for linear systems, having polytopic type of uncertainties, via the parameter-dependent Lyapunov functions. First, via employing a descriptor model transformation of the system, a Hinfin performance criterion in terms of linear matrix inequalities is derived. This Hinfin performance criterion can be adopted...
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