期刊
OCEAN ENGINEERING
卷 205, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2020.107328
关键词
Unmanned surface vehicles; Coordinated tracking; Velocity feedback control; Wavelet neural network; Swarm center
资金
- National Natural Science Foundation of China [51879023, 51579022, 61673084, 51879057, U1806228]
- Science and Technology on Underwater Vehicle Technology [6142215180102]
- Key Laboratory of Intelligent Perception and Advanced Control of State Ethnic Affairs Commission [MD-IPAC-2019103]
- LiaoNing Revitalization Talents Program [XLYC1907180]
- Liaoning Provincial Natural Science Foundation of China [2019-KF-01-16]
In this paper, a coordinated tracking strategy with swarm center identification, self-organized aggregation, collision avoidance and distributed controller design for multiple unmanned surface vehicles (USVs) under complex marine environments including both unknown dynamics and external disturbances is presented. For self-organized aggregation and collision avoidance, a velocity feedback control with the repulsive potential function is employed for each vehicle to match surge velocity and heading angle with its neighbors. To keep all vehicles connected in a group, a virtual swarm center (SC) is simultaneously designed and identified using a consensus algorithm, thereby USVs have global knowledge of the desired trajectory. Aiming to precisely estimate completely unknown dynamics together with external disturbances, a distributed tracking controller based wavelet neural network (WNN) is further proposed within the coordinated tracking strategy. Simulation studies and comprehensive comparisons with conventional NN demonstrate excellent performance of the swarm tracking strategy and superiority of WNN scheme.
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