期刊
IEEE TRANSACTIONS ON FUZZY SYSTEMS
卷 31, 期 3, 页码 875-889出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TFUZZ.2022.3191087
关键词
Optimization; Kinetic theory; Predictive models; Neurodynamics; Uncertainty; Target tracking; Safety; Autonomous surface vehicles (ASVs); control barrier function (CBF); cooperative multitarget encirclement; data-driven fuzzy modeling; neurodynamic optimization
This article addresses the cooperative multitarget encircling control problem of underactuated autonomous surface vehicles with unknown kinetics subject to velocity and input constraints. It proposes a distributed observer to estimate the covered area's geometric center and a multitarget encircling guidance law to form encircling trajectories. A data-driven fuzzy predictor is designed for learning the vehicle kinetics, and a nominal control law is developed based on the learned model. To satisfy constraints, a feasibility condition for velocities is derived, and a neurodynamics-based optimal control law is developed. The bounded input-to-state stability of the closed-loop control system is theoretically proved, and simulation results demonstrate the effectiveness of the proposed control approach.
This article addresses the cooperative multitarget encircling control of underactuated autonomous surface vehicles with unknown kinetics subject to velocity and input constraints. A distributed observer is designed for the vehicles to estimate the geometric center of the area covered by multiple moving targets. Based on the target center estimate, a multitarget encircling guidance law is developed to form encircling trajectories around the targets. A data-driven fuzzy predictor is designed for learning the vehicle kinetics, including model input gains, with available data. Based on the learned model, a nominal control law is developed to track reference guidance signals. In order to satisfy the velocity and input constraints, a feasibility condition for velocities is derived based on a control barrier function, and a neurodynamics-based optimal control law is developed based on the feasibility condition and input constraint. The bounded input-to-state stability of the closed-loop control system is theoretically proved. Simulation results are elaborated to substantiate the effectiveness of the proposed control approach for circumnavigating multiple moving targets.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据