Related references
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Article
Automation & Control Systems
Yuwei Zhang et al.
Summary: This paper proposes a hybrid formation control protocol for underactuated autonomous underwater vehicles in three-dimensional space. The protocol incorporates aspects of centralized and decentralized control and considers specific constraints related to underwater vehicles. A distributed leader-follower model is used, eliminating the need for velocity sensing, global information access, or static and connected topologies. The approach handles switching topologies and utilizes a distributed observer for followers to estimate leader states cooperatively. The compound formation control strategy includes extended state observers, three-dimensional line-of-sight guidance, and adaptive compensators to address system constraints. Simulation results demonstrate the effectiveness of the proposed approach compared to distributed and centralized approaches.
Article
Engineering, Marine
Chao Pan et al.
Summary: This paper proposes a fully data-driven distributed control approach based on model-based deep reinforcement learning for multiple under-actuated unmanned surface vehicles (USVs) with fully unknown models, in order to achieve a desired formation and collision avoidance. The dynamic models of each USV are approximated by training a deep neural network with recorded input and output data. Model predictive formation controllers are then proposed to achieve safe formation control while considering collision avoidance. Simulation results demonstrate the feasibility and efficacy of the proposed method.
Article
Engineering, Marine
Yuwei Zhang et al.
Summary: This paper proposes a bearing-based formation scaling control scheme for underactuated ASVs. The scheme allows for flexible size scaling while maintaining desired patterns. The leader-first-follower structure is assumed, with leaders having access to scaling parameters and followers maintaining bearing constraints. Adaptive neural networks are incorporated to approximate dynamic uncertainties and improve tracking performance.
Article
Engineering, Marine
Zaopeng Dong et al.
Summary: In this paper, a dual model predictive control (DMPC) method based on virtual trajectory is proposed for autonomous cooperative formation control of underactuated unmanned surface vehicles (USVs) in complex ocean environment. The method includes the design of formation tracking error model, virtual transition trajectory, improved differential tracker, dual mode switching strategy, nonlinear disturbance observer, terminal penalty function, linear state feedback controller, and Lyapunov function. Simulation experiments are performed to verify the effectiveness and reliability of the proposed method.
Article
Automation & Control Systems
Yunsheng Fan et al.
Summary: This paper addresses the trajectory tracking problem of unmanned surface vehicles in the presence of unmeasurable velocities and unknown disturbances. A fixed-time sliding mode control law is proposed by combining a fixed-time extended state observer and a fixed-time differentiator. The value of this paper lies in the design of a novel guidance law that converges in a fixed time, the estimation of unmeasurable velocities and lumped disturbances using a fixed-time extended state observer, and the use of a fixed-time differentiator to obtain real-time differential signals.
Article
Engineering, Marine
Dongdong Mu et al.
Summary: This paper proposes a method for state-constrained control of symmetric underactuated unmanned surface vehicles (USVs) under unknown dynamics and time-varying interference based on an improved Lyapunov function. The improved logarithmic barrier Lyapunov function (BLF) is introduced, with a reasonably defined performance function, to constrain the tracking errors of position and yaw direction. The symmetric barrier Lyapunov function (SBLF) and dynamic surface control (DSC) are used to simplify the controller design and indirectly restrict the yaw velocity. The effectiveness of the control system is verified through numerical simulation.
Article
Engineering, Marine
Wei Wu et al.
Summary: This article investigates the fixed-time fuzzy formation tracking control problem for multiple unmanned surface vehicle (USV) systems with intermittent actuator faults. Fuzzy state observers are developed to estimate the positions and velocity in multiple USV systems, while disturbance observers are developed to estimate the external disturbances and fuzzy logic systems are utilized to identify the unknown motion dynamics. Novel fixed-time adaptive output-feedback formation fault-tolerant controllers are constructed to compensate for the influence of intermittent actuator faults. The presented formation control method guarantees bounded signals in multiple USV systems within fixed-time.
Article
Engineering, Marine
Yunsheng Fan et al.
Summary: This paper introduces a robust approach employing deep reinforcement learning theory to enhance the efficiency of unmanned surface vehicles collision avoidance. The paper studies the restrictions on USV maneuverability and international regulations for preventing collisions at sea, and proposes improved methodologies, as well as novel techniques such as dynamic area restriction and USV state clipping, resulting in highly efficient collision avoidance decisions.
Article
Automation & Control Systems
Zhi-Wei Liu et al.
Summary: This paper investigates the formation-containment control problem of multiple underactuated surface vessels (USVs) and proposes a hierarchical sliding mode control strategy. The strategy comprises two layers, namely a local sliding model control layer and a distributed coordination layer, and a sufficient condition is obtained using Lyapunov stability and eigenvalue analysis to achieve the formation-containment control of the closed-loop multiple USVs.
Article
Automation & Control Systems
Yaohong Qu et al.
Summary: This paper introduces a distributed containment control strategy for multiple unmanned surface vehicles (USVs) under unknown external disturbances. By converting tracking errors into new error functions and utilizing disturbance observer, an effective controller is designed. The system's performance is proved using graph theory and Lyapunov approach.
Article
Engineering, Marine
Xiangli Jiang et al.
Summary: This paper investigates the formation regulation for a network of unmanned surface vehicles using the sliding mode control approach, constructing formation performance regulation on a sliding surface, stability analysis through orthogonal transformation, and designing a distributed sliding mode controller for finite-time reachability of the sliding surface.
Article
Mathematics, Applied
Lili Li et al.
Summary: This paper investigates the time-varying formation problem for multiple unmanned surface vessels with heterogeneous hydrodynamics and actuator attacks. The distributed time-varying formation is achieved, and an extended state observer is used to estimate the hydrodynamics, external disturbance, and unknown control input of the leader vessel. A distributed security controller is designed to suppress the effects of actuator attacks, without redesigning the nominal controller. Simulation results demonstrate the effectiveness of the proposed method.
APPLIED MATHEMATICS AND COMPUTATION
(2022)
Article
Engineering, Marine
Zhipeng Shen et al.
Summary: In this paper, a novel dynamic surface control scheme is proposed for trajectory tracking of unmanned surface vessel. The proposed scheme considers model uncertainties, unknown nonlinear disturbances, and full state and input constraints. The effectiveness of the control protocol is validated through simulations.
Article
Engineering, Marine
Jawhar Ghommam et al.
Summary: This paper proposes a containment control strategy for a fleet of follower USVs to avoid obstacles. A fuzzy-adaptive observer is used for state estimation and a robust output feedback distributed controller is designed to drive the USVs to a neighborhood of the convex hull formed by the leader USVs within a finite time. The benefits of the proposed control scheme are validated through computer simulations.
Article
Automation & Control Systems
Lang Ma et al.
Summary: This article focuses on event-triggered dynamic positioning for a mass-switched unmanned marine vehicle in network environments. A switched dynamic positioning system model is established to account for changes in the vehicle's mass and switching of parameters. A novel weighted event-triggering communication scheme is proposed for the mass-switched vehicle, utilizing multiple sampling instants to avoid nontriggering. A mode-dependent DPS controller and event generator co-design is proposed for disturbance attenuation. Analysis demonstrates the effectiveness of the method.
IEEE TRANSACTIONS ON CYBERNETICS
(2022)
Article
Engineering, Marine
Zhigang Xiong et al.
Summary: This paper surveys the leader-follower formation tracking for underactuated unmanned surface vehicles (USVs) with velocity constraints. It proposes error transformation on the dynamic surface and utilizes neural networks to approximate unknown disturbances. A bounded dynamic controller and a feedback mechanism are further proposed to ensure the stability and control of the formation.
Article
Engineering, Marine
Duansong Wang et al.
Summary: This paper addresses the formation control of unmanned surface vehicles (USVs) considering communication topology, dynamic model uncertainties, environmental disturbances, and a fast convergence rate. Graph theory is introduced to describe the connective relationships among USVs and establish generalized formation errors. A second-order fast nonsingular terminal sliding-mode control (SOFNTSMC) is designed to ensure quick and chatter-free convergence of the system. An adaptive update law is developed to estimate model uncertainties and external disturbances without requiring the boundary information of system uncertainties. By applying the adaptive SOFNTSMC (ASOFNTSMC) and graph theory, a distributed control is developed for each USV to achieve the desired formation pattern. Simulation results and comparisons demonstrate the effectiveness of the proposed method.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Engineering, Marine
Zhiyuan Sun et al.
Summary: This study designs a formation controller based on a virtual structure strategy to maintain the formation of underactuated surface vessels (USVs). It proposes a compensation control algorithm based on disturbance estimation to eliminate the effects of model parameter uncertainties and external environment disturbances on USV tracking control. The simulation results demonstrate the effectiveness of the proposed controller in eliminating external uncertain interference and maintaining the formation of multiple USVs.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Engineering, Marine
Guoqing Zhang et al.
Summary: This paper investigates an adaptive distributed fault-tolerant formation control scheme for multiple underactuated surface vehicles (USVs) with the bridge-to-bridge event-triggered communication mechanism. The proposed mechanism eliminates the requirement of continuous monitoring of adjacent vehicles' states or global graph information, addressing the limited communication bandwidth problem. An adaptive distributed formation controller is developed for each USV based on event-triggered communication, backstepping, and directed topology. Additionally, neural network approximation and neural damping technique are used to compensate for unknown structure uncertainty and external disturbances.
Article
Computer Science, Artificial Intelligence
Jian Li et al.
Summary: A novel robust adaptive neural network control scheme is developed for the 3-D trajectory tracking of underactuated autonomous underwater vehicles with uncertain dynamics and unknown disturbances. By introducing new prescribed performance functions and an additional term, the control scheme successfully handles the underactuation problem of AUVs and ensures the stability of the closed-loop control system. Simulation results demonstrate the effectiveness and superiority of the developed control scheme.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2022)
Article
Computer Science, Information Systems
Zou Yuhan et al.
Summary: This paper addresses the formation control problem for unmanned surface vehicles under input overload and external disturbance. A leader-follower formation control law based on input saturation and the adaptive super-twisting algorithm is proposed. The control law compensates for parametric uncertainties and unknown external disturbances, and includes an input saturation function to prevent machine necrosis caused by input overload. Simulation results demonstrate the effectiveness of the proposed method in maintaining consistent trajectory and ensuring safe input values for the USV.
Article
Automation & Control Systems
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)
Article
Engineering, Marine
Chenfeng Huang et al.
Summary: This paper introduces a novel neural finite-time formation control algorithm for multiple underactuated surface vessels with actuator faults, addressing the leader-follower formation problem by formulating it as a two-stage tracking problem and approximating model uncertainty through fusion of neural network and fractional power for finite-time convergence.
Article
Computer Science, Artificial Intelligence
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)
Article
Engineering, Mechanical
Ge Guo et al.
Summary: This paper presents a control method based on asymmetric barrier Lyapunov functions and prescribed-time observers to address the prescribed-time formation control problem for underactuated surface vessels. Simulation results demonstrate the effectiveness of the proposed method.
NONLINEAR DYNAMICS
(2021)
Article
Engineering, Marine
Shude He et al.
Summary: This paper addresses the leader-follower formation control problem for a group of underactuated unmanned surface vehicles (USVs) using a tan-type barrier Lyapunov function-based design and develops a singularity-free formation controller that satisfies prescribed performance specifications on formation errors.
Article
Engineering, Ocean
Zhipeng Shen et al.
Summary: A robust adaptive control scheme for trajectory tracking of unmanned surface vessels (USVs) is proposed, utilizing an auxiliary dynamic system and a novel nonlinear disturbance observer to handle unknown disturbances and input saturation. The effectiveness of the control protocol is validated through simulation results on a 76.2 m supply fully actuated USV, demonstrating its ability to maintain trajectory within desired values with prescribed tracking performance.
APPLIED OCEAN RESEARCH
(2021)
Article
Engineering, Marine
Bing Huang et al.
Summary: This paper investigates finite-time distributed formation control for unmanned surface vessels (USVs) facing external disturbances, model uncertainties, and input saturation constraints. By combining sliding mode control and adaptive algorithms, two control architectures are developed to address the formation control problem of USVs. Utilizing Radial Basis Function Neural Networks (RBFNNs) and an adaptive mechanism, the study demonstrates achievable finite-time convergence under the proposed controllers.
Article
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Qingling Wang et al.
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