Collective Dynamics and Control for Multiple Unmanned Surface Vessels

A multi-unmanned surface vessel (USV) formation control system is established on a novel platform composed of three 1.2-m-long hydraulic jet propulsion surface vessels, a differential GPS reference station, and inter-vessel Zigbee communication modules. The system is also equipped with an upper leve...

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Bibliographic Details
Published inIEEE transactions on control systems technology Vol. 28; no. 6; pp. 2540 - 2547
Main Authors Liu, Bin, Chen, Zhiyong, Zhang, Hai-Tao, Wang, Xudong, Geng, Tao, Su, Housheng, Zhao, Jin
Format Journal Article
LanguageEnglish
Published New York IEEE 01.11.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Automation
Collective control
Communications systems
Computer architecture
Control systems
Global positioning systems
GPS
Hydraulic jets
Imaging
Jet propulsion
Kinematics
Mathematical model
multi-agent systems (MASs)
Protocols
regulation
Satellite navigation systems
underactuated control
unmanned surface vessels (USVs)
Vessels
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Summary:A multi-unmanned surface vessel (USV) formation control system is established on a novel platform composed of three 1.2-m-long hydraulic jet propulsion surface vessels, a differential GPS reference station, and inter-vessel Zigbee communication modules. The system is also equipped with an upper level collective multi-USV protocol and a lower level vessel dynamics controller. The system is capable of chasing and surrounding a target vessel. The results are supported by rigorous theoretical analysis in terms of asymptotical surrounding behavior and trajectory regulation. Extensive experiments are conducted to demonstrate the effectiveness and efficiency of the proposed hardware and software architectures.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2019.2931524