Journal ArticleDOI
Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics
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TLDR
A robust adaptive formation controller is developed by employing neural network and dynamic surface control technique and is able to capture the vehicle dynamics without exact information of coriolis and centripetal force, hydrodynamic damping and disturbances from the environment.Abstract:
In this brief, we consider the formation control problem of underactuated autonomous surface vehicles (ASVs) moving in a leader-follower formation, in the presence of uncertainties and ocean disturbances. A robust adaptive formation controller is developed by employing neural network and dynamic surface control technique. The stability of the design is proven via Lyapunov analysis where semiglobal uniform ultimate boundedness of the closed-loop signals is guaranteed. The advantages of the proposed formation controller are that: first, the proposed method only uses the measurements of line-of-sight range and angle by local sensors, no other information about the leader is required for control implementation; second, the developed neural formation controller is able to capture the vehicle dynamics without exact information of coriolis and centripetal force, hydrodynamic damping and disturbances from the environment. Comparative analysis with a model-based approach is given to demonstrate the effectiveness of the proposed method.read more
Citations
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Journal ArticleDOI
Adaptive Fuzzy Tracking Control of Flexible-Joint Robots Based on Command Filtering
TL;DR: A new adaptive fuzzy command filtered control strategy is presented, where fuzzy logic systems are utilized to approximate the unknown nonlinearities of FJ robot systems to overcome the so-called "explosion of complexity" problem.
Journal ArticleDOI
Output-Feedback Flocking Control of Multiple Autonomous Surface Vehicles Based on Data-Driven Adaptive Extended State Observers
Zhouhua Peng,Lu Liu,Jun Wang +2 more
TL;DR: The simulation results are discussed to substantiate the efficacy of the proposed path-guided output-feedback ASV flocking control based on data-driven adaptive ESOs without measured velocity information.
Journal ArticleDOI
An Error Transformation Approach for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Networked Uncertain Underactuated Surface Vessels
Bong Seok Park,Sung Jin Yoo +1 more
TL;DR: The primary contribution is to develop a new nonlinearly transformed formation error for achieving the initial connectivity preservation, the collision avoidance, and the distributed formation tracking without switching the desired formation pattern and using any additional potential functions.
Journal ArticleDOI
Adaptive dynamic surface control for cooperative path following of marine surface vehicles with input saturation
Hao Wang,Dan Wang,Zhouhua Peng +2 more
TL;DR: In this paper, the authors considered the cooperative path following problem of multiple marine surface vehicles subject to input saturation, unknown dynamical uncertainty and unstructured ocean disturbances, and partial knowledge of the reference velocity.
Journal ArticleDOI
Leaderless and leader-follower cooperative control of multiple marine surface vehicles with unknown dynamics
TL;DR: In this paper, the leaderless and leader-follower cooperative control of multiple marine surface vehicles subject to unknown nonlinear dynamics and ocean disturbances, all seeking to maintain a relative formation is considered.
References
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Journal ArticleDOI
Approximation capabilities of multilayer feedforward networks
TL;DR: It is shown that standard multilayer feedforward networks with as few as a single hidden layer and arbitrary bounded and nonconstant activation function are universal approximators with respect to L p (μ) performance criteria, for arbitrary finite input environment measures μ.
Journal ArticleDOI
Information flow and cooperative control of vehicle formations
J.A. Fax,Richard M. Murray +1 more
TL;DR: A Nyquist criterion is proved that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability, and a method for decentralized information exchange between vehicles is proposed.
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Behavior-based formation control for multirobot teams
Tucker Balch,Ronald C. Arkin +1 more
TL;DR: New reactive behaviors that implement formations in multirobot teams are presented and evaluated and demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments.
Journal ArticleDOI
Dynamic surface control for a class of nonlinear systems
TL;DR: A method is proposed for designing controllers with arbitrarily small tracking error for uncertain, mismatched nonlinear systems in the strict feedback form and it is shown that these low pass filters allow a design where the model is not differentiated, thus ending the complexity arising due to the "explosion of terms" that has made other methods difficult to implement in practice.
Journal ArticleDOI
Information flow and cooperative control of vehicle formations
TL;DR: It is demonstrated how exchange of minimal amounts of information between vehicles can be designed to realize a dynamical system which supplies each vehicle with a shared reference trajectory.