☆ 4.7 Article

Bearing-based formation control for multiple underactuated autonomous surface vehicles with flexible size scaling

OCEAN ENGINEERING (2023)

Related references

Note: Only part of the references are listed.

Article Engineering, Aerospace

Distributed bearing-based formation control of unmanned aerial vehicle swarm via global orientation estimation

Yuwei Zhang et al.

Summary: This paper proposes a distributed bearing-based formation control scheme for Unmanned Aerial Vehicle (UAV) swarm without relying on global position or coordinate frame. The scheme uses a directed topology with a two-leader structure and includes a distributed orientation estimation law and a bearing-based formation control law. Simulation results demonstrate the effectiveness of the proposed method in controlling the translation, scale, and orientation of the formation.

CHINESE JOURNAL OF AERONAUTICS (2022)

Add to Collection

Article Engineering, Marine

Finite-time robust containment control for autonomous surface vehicle with input saturation constraint

Junda Ma et al.

Summary: This paper proposes a finite-time containment robust control scheme for autonomous surface vehicles with input saturation constraint. By utilizing a saturated distributed equivalent control algorithm based on position and velocity measurements of neighbors and a part of leaders, the finite-time containment control is achieved. Moreover, a nonlinear integral sliding mode surface and finite-time Lyapunov stability theory are applied to design a finite-time cooperative control law, which makes the system converge to the sliding surface in finite-time. Simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

OCEAN ENGINEERING (2022)

Add to Collection

Article Engineering, Marine

Trajectory tracking control for autonomous underwater vehicle based on rotation matrix attitude representation

Cheng Zhu et al.

Summary: This paper presents a rotation-matrix-based control scheme for fully actuated autonomous underwater vehicles, taking into account model uncertainties and external disturbances. By using the rotation matrix, the attitude dynamics of the AUV can be represented globally and uniquely without unwinding. However, this representation approach complicates the controller design process as the attitude tracking error is defined by a rotation matrix instead of a three-dimensional vector. To address this issue, an alternative error vector is introduced for simplicity in calculation and implementation. A novel sliding mode surface is then devised to ensure finite-time convergence and singularity-free characteristics. The proposed control scheme is demonstrated to be effective through theoretical analysis and comparative simulations.

OCEAN ENGINEERING (2022)

Add to Collection

Article Engineering, Marine

Event-triggered cooperative path following control of multiple underactuated unmanned surface vehicles with complex unknowns and actuator saturation

Youqiang Huang et al.

Summary: In this paper, an event-triggered cooperative control scheme is proposed to solve the path following problem of multiple underactuated unmanned surface vehicles (USVs). The control strategy combines various techniques and mechanisms to estimate complex unknown factors and reduce the update frequency of the controller. Numerical simulations demonstrate the feasibility and effectiveness of the proposed strategy.

OCEAN ENGINEERING (2022)

Add to Collection

Article Automation & Control Systems

Scanning-Chain Formation Control for Multiple Unmanned Surface Vessels to Pass Through Water Channels

Bin Liu et al.

Summary: This research develops a pragmatic distributed flexible formation protocol for multiple unmanned surface vessel systems to pass through narrow and irregular channels. A model predictive trajectory tracking scheme is proposed for path tracking with two leader USVs, and a scanning-formation controller is designed with a trajectory state estimator for the followers to efficiently fulfill the passing-through mission. Numerical simulations and experiments demonstrate the effectiveness of the proposed multi-USV control strategies.

IEEE TRANSACTIONS ON CYBERNETICS (2022)

Add to Collection

Article Engineering, Marine

A novel path following approach for autonomous ships based on fast marching method and deep reinforcement learning

Shuwu Wang et al.

Summary: This study proposes a novel path following approach for autonomous ships based on the fast marching method and deep reinforcement learning. It enables ships to follow different paths and ensures path tracking errors stay within a set range.

OCEAN ENGINEERING (2022)

Add to Collection

Article Automation & Control Systems

Event-Triggered Cooperative Path Following of Autonomous Surface Vehicles Over Wireless Network With Experiment Results

Mingao Lv et al.

Summary: This article presents a solution for cooperative path-following problem of autonomous surface vehicles (ASVs) over a wireless network with constrained resources. A network-based resource-aware control architecture is proposed to achieve cooperative path following with low network traffic and reduced computation. Experimental results verify the effectiveness of the proposed network-based resource-aware control architecture for multiple ASVs.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2022)

Add to Collection

Article Automation & Control Systems

Completely distributed formation control for networked quadrotors under switching communication topologies

Hao Liu et al.

Summary: This paper investigates a completely distributed adaptive formation control protocol for networked quadrotors under switching communication topologies, aiming to ensure convergence of tracking errors and providing numerical simulation results to confirm the effectiveness of the protocol.

SYSTEMS & CONTROL LETTERS (2021)

Add to Collection

Article Automation & Control Systems

An Overview of Recent Advances in Coordinated Control of Multiple Autonomous Surface Vehicles

Zhouhua Peng et al.

Summary: Autonomous surface vehicles (ASVs) are marine vessels capable of operating without a crew in various water/ocean environments, and coordinating multiple ASVs for complex missions offers enhanced capability and efficacy. Challenges in coordinated control of ASVs include their diversity, intravehicle interactions, collision avoidance requirements, and limited communication bandwidth in sea environments.

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2021)

Add to Collection

Article Engineering, Marine

Three-dimensional formation-containment control of underactuated AUVs with heterogeneous uncertain dynamics and system constraints

Yuwei Zhang et al.

Summary: This paper investigates the formation-containment (FC) control problem of networked underactuated autonomous underwater vehicles (AUVs) in three-dimensional space using a two-layer control framework. A distributed estimator is used to generate reference trajectories and a model-free trajectory tracking strategy is developed to achieve the leaders' formation and followers' containment. Comparative simulations demonstrate the effectiveness and robustness of the proposed two-layer control protocol.

OCEAN ENGINEERING (2021)

Add to Collection

Article Engineering, Marine

Finite-time time-varying formation control for marine surface vessels

Cheng Zhu et al.

Summary: This paper introduces a solution to the time-varying formation control problem of multiple marine surface vehicles, which addresses uncertainties, actuator faults, and saturation constraints. By designing a novel integral manifold and utilizing the hyperbolic tangent function, a time-varying formation tracking control scheme with finite-time reachability is successfully developed. Numerical simulations confirm the efficacy of the proposed algorithm in addressing uncertainties and actuator faults.

OCEAN ENGINEERING (2021)

Add to Collection

Article Engineering, Marine

Barrier function-based adaptive neural network sliding mode control of autonomous surface vehicles

Yan Yan et al.

Summary: This paper presents a method that combines neural networks and sliding mode control for trajectory tracking of autonomous surface vehicles. By integrating robust control parameters with approximation errors, accurate estimation and constraint of model uncertainties and external disturbances are successfully achieved.

OCEAN ENGINEERING (2021)

Add to Collection

Article Engineering, Marine

Saturated approximation-free prescribed performance trajectory tracking control for autonomous marine surface vehicle

Cheng Zhu et al.

Summary: This paper addresses the saturated approximation-free tracking control problem for unmanned marine surface vehicles with prescribed performance metrics. By introducing a smooth dead zone-based model and prescribed performance technology, a saturated approximation-free control scheme based on sliding mode control is developed to achieve system stabilization. Simulation results demonstrate the efficacy of the controller.

OCEAN ENGINEERING (2021)

Add to Collection

Article Computer Science, Artificial Intelligence

Data-Driven Adaptive Disturbance Observers for Model-Free Trajectory Tracking Control of Maritime Autonomous Surface Ships

Zhouhua Peng et al.

Summary: This article introduces reduced- and full-order data-driven adaptive disturbance observers (DADOs) for estimating unknown input gains and total disturbance of maritime autonomous surface ships. The proposed DADOs offer simultaneous estimation of total disturbance and input gains with guaranteed convergence through data-driven adaption. Simulation results validate the efficacy of the proposed DADO approach for model-free trajectory tracking control of autonomous surface ships without prior knowledge of their dynamics.

IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS (2021)

Add to Collection

Article Computer Science, Artificial Intelligence

Bearing-Based Adaptive Neural Formation Scaling Control for Autonomous Surface Vehicles With Uncertainties and Input Saturation

Yu Lu et al.

Summary: This article investigates the formation scaling control problem of ASVs with uncertainties and input saturation, developing a novel bearing-based adaptive neural formation scaling control scheme. The main idea is to use a small number of leader ASVs to program trajectories and steer remaining ASVs to follow leaders via adaptive neural techniques, achieving desired formation scaling maneuver with guaranteed formation errors.

IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS (2021)

Add to Collection

Article Engineering, Ocean

Adaptive and extendable control of unmanned surface vehicle formations using distributed deep reinforcement learning

Shuwu Wang et al.

Summary: Future ocean exploration will be dominated by a large-scale deployment of marine robots such as unmanned surface vehicles (USVs), which can exploit oceans in an unprecedented way with increased mission efficiency. AI technologies like reinforcement learning can equip USVs with high-level intelligence for fully autonomous operation. The trend of USV operations in the future is to use them as a formation fleet, with potential impact from adopting advanced AI technologies in formation control.

APPLIED OCEAN RESEARCH (2021)

Add to Collection

Article Engineering, Marine

Robust practical fixed-time leader-follower formation control for underactuated autonomous surface vessels using event-triggered mechanism

Chenfeng Huang et al.

Summary: This paper investigates a practical fixed-time formation control strategy for underactuated autonomous surface vessels with unknown dynamics based on event-triggered mechanism. A concise adaptive law is developed to compensate the adverse effect of the unknown time-varying functions and unstructured uncertainty, while the event-triggered mechanism facilitates the smart triggering of control inputs. The proposed controller has the advantages of smaller computation load and less energy consumption, and theoretical analysis proves the convergence of tracking errors within fixed-time settling.

OCEAN ENGINEERING (2021)

Add to Collection

Article Automation & Control Systems

Successive Waypoints Tracking of an Underactuated Surface Vehicle

Ning Wang et al.

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2020)

Add to Collection

Article Automation & Control Systems

DO-LPV-based robust 3D path following control of underactuated autonomous underwater vehicle with multiple uncertainties

Yuwei Zhang et al.

ISA TRANSACTIONS (2020)

Add to Collection

Article Engineering, Marine

Constrained coordinated path-following control for underactuated surface vessels with the disturbance rejection mechanism

Guoqing Zhang et al.

OCEAN ENGINEERING (2020)

Add to Collection

Article Automation & Control Systems

Guidance-Error-Based Robust Fuzzy Adaptive Control for Bottom Following of a Flight-Style AUV With Saturated Actuator Dynamics

Caoyang Yu et al.

IEEE TRANSACTIONS ON CYBERNETICS (2020)

Add to Collection

Article Automation & Control Systems

Cooperative Path Following Ring-Networked Under-Actuated Autonomous Surface Vehicles: Algorithms and Experimental Results

Lu Liu et al.

IEEE TRANSACTIONS ON CYBERNETICS (2020)

Add to Collection

Article Engineering, Marine

Optimized Radial Basis Function Neural Network Based Intelligent Control Algorithm of Unmanned Surface Vehicles

Renqiang Wang et al.

JOURNAL OF MARINE SCIENCE AND ENGINEERING (2020)

Add to Collection

Article Engineering, Civil

Cooperative Multi-Vessel Systems in Urban Waterway Networks

Linying Chen et al.

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS (2020)

Add to Collection

Article Automation & Control Systems

Output-Feedback Cooperative Formation Maneuvering of Autonomous Surface Vehicles With Connectivity Preservation and Collision Avoidance

Zhouhua Peng et al.

IEEE TRANSACTIONS ON CYBERNETICS (2020)

Add to Collection

Article Engineering, Marine

Cooperative formation control for multiple surface vessels based on barrier Lyapunov function and self-structuring neural networks

Haitao Liu et al.

OCEAN ENGINEERING (2020)

Add to Collection

Article Engineering, Marine

Command filter based adaptive neural trajectory tracking control of an underactuated underwater vehicle in three-dimensional space

Jinqiang Wang et al.

OCEAN ENGINEERING (2019)

Add to Collection

Article Automation & Control Systems

Path planning of multiple autonomous marine vehicles for adaptive sampling using Voronoi-based ant colony optimization

Chengke Xiong et al.

ROBOTICS AND AUTONOMOUS SYSTEMS (2019)

Add to Collection

Article Automation & Control Systems

Bearing-Only Formation Tracking Control of Multiagent Systems

Shiyu Zhao et al.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL (2019)

Add to Collection

Article Engineering, Marine

Distributed Model Predictive Control for cooperative floating object transport with multi-vessel systems

Linying Chen et al.

OCEAN ENGINEERING (2019)

Add to Collection

Article Engineering, Marine

Path-guided time-varying formation control with collision avoidance and connectivity preservation of under-actuated autonomous surface vehicles subject to unknown input gains

Zhouhua Peng et al.

OCEAN ENGINEERING (2019)

Add to Collection

Article Automation & Control Systems

Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles

Xianbo Xiang et al.

INTERNATIONAL JOURNAL OF FUZZY SYSTEMS (2018)

Add to Collection

Article Engineering, Mechanical

Robust adaptive formation control of underactuated autonomous surface vessels based on MLP and DOB

Yu Lu et al.

NONLINEAR DYNAMICS (2018)

Add to Collection

Article Engineering, Marine

Adaptive cooperative formation control of autonomous surface vessels with uncertain dynamics and external disturbances

Yu Lu et al.

OCEAN ENGINEERING (2018)

Add to Collection

Article Engineering, Civil

ESO-Based Line-of-Sight Guidance Law for Path Following of Underactuated Marine Surface Vehicles With Exact Sideslip Compensation

Lu Liu et al.

IEEE JOURNAL OF OCEANIC ENGINEERING (2017)

Add to Collection

Article Robotics

Multi-robot formation control and object transport in dynamic environments via constrained optimization

Javier Alonso-Mora et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2017)

Add to Collection

Article Automation & Control Systems

Translational and Scaling Formation Maneuver Control via a Bearing-Based Approach

Shiyu Zhao et al.

IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS (2017)

Add to Collection

Article Automation & Control Systems

Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization

Shiyu Zhao et al.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL (2016)

Add to Collection

Article Automation & Control Systems

A survey of multi-agent formation control

Kwang-Kyo Oh et al.

AUTOMATICA (2015)

Add to Collection

Article Automation & Control Systems

Input-to-state stability and interconnections of discontinuous dynamical systems

W. P. M. H. Heemels et al.

AUTOMATICA (2008)

Add to Collection

Article Engineering, Marine

Robust path-following of underactuated ships: Theory and experiments on a model ship

K. D. Do et al.

OCEAN ENGINEERING (2006)

Add to Collection

Article Automation & Control Systems

Higher-order sliding modes, differentiation and output-feedback control

A Levant

INTERNATIONAL JOURNAL OF CONTROL (2003)

Add to Collection

© Peeref 2019-2024. All rights reserved.