Journal
OCEAN ENGINEERING
Volume 187, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2019.04.077
Keywords
Distributed containment maneuvering; Under-actuation; Extended state observer; Unmanned surface vehicles
Funding
- National Natural Science Foundation of China [51579023, 61673081]
- Innovative Talents in Universities of Liaoning Province [LR2017014]
- High Level Talent Innovation and Entrepreneurship Program of Dalian [2016RQ036, 2018-030]
- National Key Research and Development Program of China [2016YFC0301500]
- Fundamental Research Funds for the Central Universities [3132019101]
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This paper is concerned with the distributed containment maneuvering for a fleet of under-actuated unmanned surface vehicles (USVs) guided by multiple virtual leaders moving along multiple parameterized paths with a formation. Each USV is subject to model uncertainties and ocean disturbances caused by wind, waves and ocean currents. Distributed containment maneuvering controllers are constructed for under-actuated USVs based on an auxiliary variable approach, an extended state observer, a linear tracking differentiator, and a path maneuvering design. The proposed controllers drive the vehicle fleet to converge to a convex combination of multiple virtual leaders regardless of the model uncertainties and ocean disturbances. The input-to-state stability of the closed loop system is analyzed via Lyapunov theory and the containment maneuvering errors converge to a small neighborhood of the origin. Simulation results show that the feasibility and efficacy of the proposed distributed containment maneuvering controllers for the under-actuated USVs.
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