Neuroadaptive Distributed Output Feedback Tracking Control for Multiple Marine Surface Vessels With Input and Output Constraints

In this paper, a neuroadaptive distributed output feedback formation tracking control scheme for multiple marine surface vessels with model uncertainties, unknown environmental disturbances and input and output constraints is proposed. A neural network based observer is developed to reconstruct the unmeasured velocity and approach the model uncertainties. To handle the input constraint, an auxiliary dynamic system is introduced. The tracking error transformation and the barrier Lyapunov function are used to tackle with the output constraint. Subsequently, by using the estimated velocity of neighboring vessels, neuroadaptive distributed output feedback controllers are developed. Furthermore, to avoid directly taking the time derivation of virtual control law and generate smooth reference signals, linear tracking differentiators are employed. Finally, it is shown that all the signals in the closed-loop system are bounded via Lyapunov analysis. Simulations are carried out to verify the proposed control scheme.