Constrained Control of Autonomous Surface Vehicles for Multitarget Encirclement via Fuzzy Modeling and Neurodynamic Optimization

This article addresses the cooperative multitarget encircling control of underactuated autonomous surface vehicles with unknown kinetics subject to velocity and input constraints. A distributed observer is designed for the vehicles to estimate the geometric center of the area covered by multiple mov...

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Bibliographic Details
Published inIEEE transactions on fuzzy systems Vol. 31; no. 3; pp. 875 - 889
Main Authors Jiang, Yue, Peng, Zhouhua, Wang, Jun
Format Journal Article
LanguageEnglish
Published New York IEEE 01.03.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Autonomous surface vehicles (ASVs)
Closed loops
Constraints
control barrier function (CBF)
Control theory
Cooperative control
cooperative multitarget encirclement
data-driven fuzzy modeling
Feasibility
Feedback control
Guidance (motion)
Kinetic theory
Kinetics
Moving targets
neurodynamic optimization
Neurodynamics
Optimal control
Optimization
Predictive models
Safety
Surface vehicles
Target tracking
Uncertainty
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Summary:This article addresses the cooperative multitarget encircling control of underactuated autonomous surface vehicles with unknown kinetics subject to velocity and input constraints. A distributed observer is designed for the vehicles to estimate the geometric center of the area covered by multiple moving targets. Based on the target center estimate, a multitarget encircling guidance law is developed to form encircling trajectories around the targets. A data-driven fuzzy predictor is designed for learning the vehicle kinetics, including model input gains, with available data. Based on the learned model, a nominal control law is developed to track reference guidance signals. In order to satisfy the velocity and input constraints, a feasibility condition for velocities is derived based on a control barrier function, and a neurodynamics-based optimal control law is developed based on the feasibility condition and input constraint. The bounded input-to-state stability of the closed-loop control system is theoretically proved. Simulation results are elaborated to substantiate the effectiveness of the proposed control approach for circumnavigating multiple moving targets.
Bibliography:ObjectType-Article-1
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ISSN:1063-6706
1941-0034
DOI:10.1109/TFUZZ.2022.3191087