Saturated coordinated control of multiple underactuated unmanned surface vehicles over a closed curve

This paper presents a design method for saturated coordinated control of multiple underactuated unmanned surface vehicles（USVs） on a closed curve, holding a symmetric formation pattern. Each vehicle is subject to unknown sideslip, uncertain vehicle kinetics, and limited control torques. First, the c...

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Bibliographic Details
Published inScience China. Information sciences Vol. 60; no. 7; pp. 36 - 49
Main Authors Liu, Lu, Wang, Dan, Peng, Zhouhua, Liu, Hugh H. T.
Format Journal Article
LanguageEnglish
Published Beijing Science China Press 01.07.2017
Springer Nature B.V
Subjects
Closed loops
Comparative studies
Computer Science
Control theory
Design parameters
Design techniques
Feedback control
Information Systems and Communication Service
Kinematics
Network control
Neural networks
Research Paper
Sideslip
Stability analysis
State observers
Surface vehicles
Trajectory planning
Unmanned vehicles
Vehicles
协调控制
无人地面车辆
无人机
欠驱动
状态稳定性
车辆动力学
闭合曲线
饱和函数
reduced-order extended state observer
parameter cyclic pursuit
saturated control
neural networks
symmetric formation pattern
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ISSN1674-733X
1869-1919
DOI10.1007/s11432-016-9091-8

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Summary:This paper presents a design method for saturated coordinated control of multiple underactuated unmanned surface vehicles（USVs） on a closed curve, holding a symmetric formation pattern. Each vehicle is subject to unknown sideslip, uncertain vehicle kinetics, and limited control torques. First, the course angle and surge velocity are considered as immediate signals to stabilize the along-track and cross-track path following errors. In the vehicle kinematics, a reduced-order extended state observer is utilized to compensate for the effect of the unknown sideslip. Next, a bounded neural network control law is constructed at the kinetic level with the aid of the a saturated function, a projection operator, and a dynamic surface design method. Finally, a parameter cyclic pursuit approach is presented to guarantee that the vehicles are evenly spaced over the closed curve for achieving a symmetric formation pattern. The input-to-state stability of the closed-loop system is analyzed via cascade theory. Comparative studies are given to show the effectiveness of the proposed method.
Bibliography:symmetric formation pattern parameter cyclic pursuit reduced-order extended state observer neural networks saturated control
11-5847/TP
This paper presents a design method for saturated coordinated control of multiple underactuated unmanned surface vehicles（USVs） on a closed curve, holding a symmetric formation pattern. Each vehicle is subject to unknown sideslip, uncertain vehicle kinetics, and limited control torques. First, the course angle and surge velocity are considered as immediate signals to stabilize the along-track and cross-track path following errors. In the vehicle kinematics, a reduced-order extended state observer is utilized to compensate for the effect of the unknown sideslip. Next, a bounded neural network control law is constructed at the kinetic level with the aid of the a saturated function, a projection operator, and a dynamic surface design method. Finally, a parameter cyclic pursuit approach is presented to guarantee that the vehicles are evenly spaced over the closed curve for achieving a symmetric formation pattern. The input-to-state stability of the closed-loop system is analyzed via cascade theory. Comparative studies are given to show the effectiveness of the proposed method.
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ISSN:1674-733X
1869-1919
DOI:10.1007/s11432-016-9091-8