Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 50, Issue 6, Pages 2527-2535Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2019.2914717
Keywords
Collision avoidance; Observers; Uncertainty; Stability analysis; Vehicle dynamics; Marine vehicles; Output feedback; Autonomous surface vehicles (ASVs); collision avoidance; connectivity preservation; state observer; time-varying formation maneuvering
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Funding
- National Natural Science Foundation of China [51579023, 61673081, 61773087]
- Innovative Talents in Universities of Liaoning Province [LR2017014]
- High-Level Talent Innovation and Entrepreneurship Program of Dalian [2016RQ036]
- Training Program for High-Level Technical Talent in Transportation Field [2018-030]
- National Key Research and Development Program of China [2016YFC0301500]
- Fundamental Research Funds for the Central Universities [3132019013]
- Fundamental Research Program for Key Laboratory of the Education Department of Liaoning Province [LZ2015006]
- Science and Technology Innovation Funds of Dalian [2018J11CY022]
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In this paper, a cooperative time-varying formation maneuvering problem with connectivity preservation and collision avoidance is investigated for a fleet of autonomous surface vehicles (ASVs) with position-heading measurements. Each vehicle is subject to unknown kinetics induced by internal model uncertainty and external disturbances. At first, a nonlinear state observer is used to recover the unmeasured linear velocity and yaw rate as well as unknown uncertainty and disturbances. Then, observer-based cooperative time-varying formation maneuvering control laws are designed based on artificial potential functions, nonlinear tracking differentiators, and a backstepping technique. The stability of closed-loop distributed formation control system is analyzed based on input-to-state stability and cascade stability. The salient features of the proposed method are as follows. First, cooperative time-varying formation maneuvering with the capability of connectivity preservation and collision avoidance can be achieved in the absence of velocity measurements. Second, the complexity of the cooperative time-varying formation maneuvering control laws is reduced without resorting to dynamic surface control. Third, the uncertainty and disturbance are actively rejected in the presence of position-heading measurements. Simulation results are given to substantiate the proposed output feedback control method for cooperative time-varying formation maneuvering of ASVs with connectivity preservation and collision avoidance.
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