Distributed event-triggered adaptive output-feedback formation tracking of uncertain underactuated underwater vehicles in three-dimensional space

作者：

Highlights：

• A distributed output-feedback formation tracking is developed for multiple UUVs in threedimensional space.

• A state transformation strategy using a time-varying scaling signal is developed to design a neural-network-based adaptive velocity observer.

• A distributed error transformation approach is derived for dealing with both the underactuation constraints and the guaranteed performance problem.

摘要

•A distributed output-feedback formation tracking is developed for multiple UUVs in threedimensional space.•A state transformation strategy using a time-varying scaling signal is developed to design a neural-network-based adaptive velocity observer.•A distributed error transformation approach is derived for dealing with both the underactuation constraints and the guaranteed performance problem.

论文关键词：Output-feedback,Distributed three-dimensional tracking,Adaptive observer,Event-triggered,Multiple underacutated underwater vehicles

论文评审过程：Received 9 September 2021, Revised 28 January 2022, Accepted 22 February 2022, Available online 9 March 2022, Version of Record 9 March 2022.

论文官网地址：https://doi.org/10.1016/j.amc.2022.127046