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This paper is concerned with a coordinated search and rescue problem of heterogeneous ocean vehicle cluster composed of autonomous surface vehicles (ASVs) and autonomous underwater vehicles (AUVs) subject to model uncertainties and ocean disturbances. Firstly, a three dimensions (3D) cross domain kinematic controller with auto-stop function at the rescue points is designed for the coordinated ASV-AUV system by using a line-of-sight guidance law. Secondly, an event-triggered based communication mechanism is constructed to ensure that the ASV-AUV system can broadcast information at its trigger moments except to the auto-stop points. Finally, an adaptive motion control law based on a low-frequency learning fuzzy predictor is designed, which is able to filter out the high-frequency components of uncertainties and disturbances. The stability of the closed-loop system is proven by employing input-to-state stability and cascade stability analysis. Simulation results and numerical analysis show the effectiveness of the proposed 3D heterogeneous cross domain coordinated path following controller with auto-stop function for marine search and rescue. • In contrast to the existing coordinated path following controllers which applicable to a two-dimensional or three-dimensional coordinated control in the same domain, a three-dimensional cross domain coordinated controller with auto-stop function applicable to sea surface and underwater scenarios are constructed. • In contrast to the existing communication that cannot stop during the whole control period, a predictor-based event-triggered communication mechanism is proposed such that the narrow network band could be effectively alleviated, and the communication will be suspended at the rescue points. • In contrast to the existing predictor design methods, a low-frequency learning fuzzy predictors are presented not only to filter out high-frequency components of non-linearities uncertainties and unmodeled random external disturbances, but also to achieve fast adaptation. [ABSTRACT FROM AUTHOR]

This paper investigates a parameterized path-guided following/maneuvering control problem of an autonomous surface vehicle (ASV) subject to actuator faults via a noncooperative game strategy. Unlike the existing path maneuvering control methods, the noncooperative game of this paper includes two sub-games. On one hand, the path update is considered to be against the effort of kinematic control. On the other hand, the kinetic control is considered to be against the total disturbances consisting of actuator faults and external disturbances. A robust adaptive fault-tolerant path maneuvering controller is designed based on a noncooperative game approach. Specifically, we design a kinematic control law using an improved dynamic surface control approach to achieve the geometric objective. An improved neural predictor is constructed, in which a concurrent learning-based adaptation is designed to identify unknown fault coefficients. A path update law and a kinetic control law are calculated to cover noncooperative games by using an adaptive dynamic programming approach. Theoretical analysis shows that the closed-loop system is input-to-state stable, and the proposed method can meet the geometric objective, the dynamic objective, and the fault-tolerant objective. Finally, simulation results demonstrate the efficacy of the proposed robust adaptive fault-tolerant control method for path maneuvering. • A noncooperative game-based variable tuning law is proposed for path update. • A fault-tolerant control method is developed using a noncooperative game strategy. • An improved neural predictor is designed for identifying fault coefficients. [ABSTRACT FROM AUTHOR]

In this paper, we study the performance enhancement of tracking control for a class of nonlinear systems with prescribed performance, by employing a novel pair of prescribed monotone tube boundary functions. Compared to the standard prescribed performance approach, the key merit relies on the capability to assign some quantitative indices (e.g., overshoot, accuracy and convergence time) – which are widely required in industry – in terms of the novel links between these indices and the proposed boundary functions. We provide a constructive solution to achieve the pre-assigned performance, which is characterized by forward invariance and boundedness of the closed loop. [ABSTRACT FROM AUTHOR]