Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 28, Issue 6, Pages 2540-2547Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2019.2931524
Keywords
Mathematical model; Protocols; Kinematics; Control systems; Automation; Imaging; Collective control; multi-agent systems (MASs); regulation; underactuated control; unmanned surface vessels (USVs)
Funding
- National Natural Science Foundation of China (NNSFC) [61751303, U1713203, 51729501, 61673189]
- Guangdong Innovative and Entrepreneurial Research Team Program [2014ZT05G304]
- Program for Core Technology Tackling Key Problems of Dongguan City [2019622101007]
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A multi-unmanned surface vessel (USV) formation control system is established on a novel platform composed of three 1.2-m-long hydraulic jet propulsion surface vessels, a differential GPS reference station, and inter-vessel Zigbee communication modules. The system is also equipped with an upper level collective multi-USV protocol and a lower level vessel dynamics controller. The system is capable of chasing and surrounding a target vessel. The results are supported by rigorous theoretical analysis in terms of asymptotical surrounding behavior and trajectory regulation. Extensive experiments are conducted to demonstrate the effectiveness and efficiency of the proposed hardware and software architectures.
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