Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics
Citations
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Cites methods from "Adaptive Dynamic Surface Control fo..."
...NN adaptive control was presented for multiple unmanned surface vessels in [43], and the unmeasured states were estimated by a local...
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344 citations
Cites background or methods from "Adaptive Dynamic Surface Control fo..."
...In this section we present a simulation study based on the model presented in Do and Pan (2006) and Peng et al. (2013), where the vessel dynamics are in the form of (1), with the kinetics Miν̇i + Ci(νi)νi + Di(νi)νi + Fi(νi) = τ Fi , (45) where i = 1, 2 meaning that there are two followers that we…...
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...The assumption of passive-boundedness for the sway velocity is a mild one and has been adopted in the literature on the topic of underactuated ships (Li et al., 2008; Peng et al., 2013)....
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...Take m23,i = 0 by properly choosing the body-frame origin (Peng et al., 2013), the kinetics model can be further represented as...
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...The formulation of the ship kinematics presented in the works such as Do and Pan (2006), Ghommam and Mnif (2009), Peng et al. (2013, 2011) can also be converted into the form of (1)....
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...As the leader moves in the sea and is subject to the hydrodynamic damping force, the surge speed cannot be infinite in practice (Peng et al., 2013)....
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284 citations
Cites methods from "Adaptive Dynamic Surface Control fo..."
...Remark 1: Compared with the backstepping and DSC design methods in [1]–[4], [8]–[11], [21], and [31], the advantage of the RNN-based reference governor is twofold....
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281 citations
Cites background or methods from "Adaptive Dynamic Surface Control fo..."
...In addition to handling vehicle uncertainty [3], [5], [6], [12], [18], [22], [36], [37], [43], it is necessary to adhere to strict...
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...If only the output information is available, the methods given in [3], [5], [6], [12], [18], [22], [36], and [37] may not be...
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...A variety of methods are proposed to deal with the uncertainty, ranging from sliding model control [36], neural network control [3], [6], [18], [22], [37]–[39], fuzzy...
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...Motion control scenario for marine vehicles include trajectorytracking [14]–[18], path-following [1], [2], [19]–[21], and formation control [3], [4], [8], [10], [22]–[25]....
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...Remark 4: The proposed design method takes the following advantages over the backstepping and dynamic surface control designs in [1]–[3], [6], [12], [14], [18]–[22], and [37]....
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References
5,593 citations
"Adaptive Dynamic Surface Control fo..." refers background in this paper
...Since neural networks (NNs) have an inherent ability of learning nonlinear dynamics [24]–[26], it is attractive to apply them to the control of surface vehicles....
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4,377 citations
3,008 citations
"Adaptive Dynamic Surface Control fo..." refers methods in this paper
...2181513 [1]–[4], virtual structure method [5], behavioral approach [6], [7], graph theory-based method [8]–[11], artificial potential mechanism [12]–[14], and so on....
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1,901 citations
"Adaptive Dynamic Surface Control fo..." refers methods in this paper
...In this section, we present the leader-follower formation control algorithm based on NN-based DSC technique [27], [29]....
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...The DSC approach proposed in [27] simplifies the controller design by introducing the first-order filters and avoids the calculation of derivatives of virtual control signals, and is incorporated into NN-based adaptive control framework in [29]....
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...In contrast, in this brief we develop an adaptive formation controller for underactuated ASVs, using the NN-based dynamic surface control (DSC) approach [27], [29]....
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1,724 citations