Adaptive Formation Control for Autonomous Surface Vehicles Using Port-Hamiltonian and Prescribed Performance Theories

Authors

Kun Xie, Huahuan Wang, Weidong Zhang, Zehua Jia

Abstract

This paper addresses the decentralized leader-follower formation control problem for autonomous surface vehicles (ASVs) in the presence of model uncertainties and unknown disturbances. An adaptive passivity-based control method is proposed by synergistically integrating the interconnection and damping assignment technique with the prescribed performance control (PPC). By integrating the PPC technique into the Port-Hamiltonian (PH) framework, the proposed method can achieve the inter-vehicle collision avoidance while holding the intuitive design advantage that benefits from the PH theory. To enhance the system robustness, a structure-preserving adaptive law is developed to compensate for disturbances and model uncertainties while preserving the PH system structure. Simulations are conducted to validate the effectiveness of the proposed method.

Citation

• Journal: 2025 44th Chinese Control Conference (CCC)
• Year: 2025
• Volume:
• Issue:
• Pages: 6156–6161
• Publisher: IEEE
• DOI: 10.23919/ccc64809.2025.11179759

BibTeX

@inproceedings{Xie_2025,
  title={{Adaptive Formation Control for Autonomous Surface Vehicles Using Port-Hamiltonian and Prescribed Performance Theories}},
  DOI={10.23919/ccc64809.2025.11179759},
  booktitle={{2025 44th Chinese Control Conference (CCC)}},
  publisher={IEEE},
  author={Xie, Kun and Wang, Huahuan and Zhang, Weidong and Jia, Zehua},
  year={2025},
  pages={6156--6161}
}

Download the bib file

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