Adaptive Platoon Control for Marine Surface Vehicles in the Presence of Constraints

This paper presents the platoon formation control design for unmanned surface vehicles with input and output constraints. First, Barrier Lyapunov Function (BLF) is employed to ensure the desired line-of-sight (LOS) range. The LOS range should be maintained within the predefined regions between each...

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Published inComplexity (New York, N.Y.) Vol. 2020; no. 2020; pp. 1 - 10
Main Authors Liang, Xiaoling, Wang, Duansong
Format Journal Article
LanguageEnglish
Published Cairo, Egypt Hindawi Publishing Corporation 05.08.2020
Hindawi
John Wiley & Sons, Inc
Wiley
Subjects
Adaptive control
Closed loop systems
Collision avoidance
Computer simulation
Liapunov functions
Line of sight
Neural networks
Platooning
Stability analysis
Surface vehicles
Traffic flow
Unmanned vehicles
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Abstract This paper presents the platoon formation control design for unmanned surface vehicles with input and output constraints. First, Barrier Lyapunov Function (BLF) is employed to ensure the desired line-of-sight (LOS) range. The LOS range should be maintained within the predefined regions between each marine vehicle and its predecessor while the connected platoons track the trajectory. Next, to handle the model uncertainties and unknown external disturbance, we propose an adaptive neural network controller that approximates the unknown nonlinearities. Furthermore, the Nussbaum function is applied to compensate for input saturations. In addition, formation errors can be guaranteed by stability analysis. The distance between two consecutive agents does not violate collision avoidance and connectivity in the presence of input saturation. Finally, the feasibility of the theoretical results is illustrated through the simulation results.
AbstractList This paper presents the platoon formation control design for unmanned surface vehicles with input and output constraints. First, Barrier Lyapunov Function (BLF) is employed to ensure the desired line-of-sight (LOS) range. The LOS range should be maintained within the predefined regions between each marine vehicle and its predecessor while the connected platoons track the trajectory. Next, to handle the model uncertainties and unknown external disturbance, we propose an adaptive neural network controller that approximates the unknown nonlinearities. Furthermore, the Nussbaum function is applied to compensate for input saturations. In addition, formation errors can be guaranteed by stability analysis. The distance between two consecutive agents does not violate collision avoidance and connectivity in the presence of input saturation. Finally, the feasibility of the theoretical results is illustrated through the simulation results.
Audience Academic
Author Wang, Duansong
Liang, Xiaoling
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Copyright Copyright © 2020 Xiaoling Liang and Duansong Wang.
COPYRIGHT 2020 John Wiley & Sons, Inc.
Copyright © 2020 Xiaoling Liang and Duansong Wang. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. http://creativecommons.org/licenses/by/4.0
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Snippet This paper presents the platoon formation control design for unmanned surface vehicles with input and output constraints. First, Barrier Lyapunov Function...
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SubjectTerms Adaptive control
Closed loop systems
Collision avoidance
Computer simulation
Liapunov functions
Line of sight
Neural networks
Platooning
Stability analysis
Surface vehicles
Traffic flow
Unmanned vehicles
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Title Adaptive Platoon Control for Marine Surface Vehicles in the Presence of Constraints
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