Distributed Robust Learning-Based Backstepping Control Aided with Neurodynamics for Consensus Formation Tracking of Underwater Vessels

TL;DR

This paper proposes a distributed robust control method for underwater vessels using learning-based backstepping and neurodynamics, ensuring consensus formation tracking despite uncertainties and disturbances.

Contribution

It introduces a novel combination of learning-based backstepping control with neurodynamics for robust distributed formation control of underwater vessels with unknown parameters.

Findings

The control scheme guarantees stability under uncertainties.

Simulations confirm effective consensus tracking.

Robustness against disturbances and noise is demonstrated.

Abstract

This paper addresses distributed robust learning-based control for consensus formation tracking of multiple underwater vessels, in which the system parameters of the marine vessels are assumed to be entirely unknown and subject to the modeling mismatch, oceanic disturbances, and noises. Towards this end, graph theory is used to allow us to synthesize the distributed controller with a stability guarantee. Due to the fact that the parameter uncertainties only arise in the vessels' dynamic model, the backstepping control technique is then employed. Subsequently, to overcome the difficulties in handling time-varying and unknown systems, an online learning procedure is developed in the proposed distributed formation control protocol. Moreover, modeling errors, environmental disturbances, and measurement noises are considered and tackled by introducing a neurodynamics model in the controller design to obtain a robust solution. Then, the stability analysis of the overall closed-loop system under the proposed scheme is provided to ensure the robust adaptive performance at the theoretical level. Finally, extensive simulation experiments are conducted to further verify the efficacy of the presented distributed control protocol.