Journal ArticleDOI
Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics
Reads0
Chats0
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
More filters
Journal ArticleDOI
Research on Intelligent Collision Avoidance for Unmanned Surface Vehicle with Multi-ship Obstacles Based on COLREGS
TL;DR: A fuzzy programming method based on the urgency of obstacle avoidance, safety prediction and feasibility of adjustment, and the simulation of collision avoidance planning for multiple complex obstacles with simultaneous encounter, crossover and overtaking conditions proves the intelligence of the method.
Journal ArticleDOI
Controlling uncertain Genesio–Tesi chaotic system using adaptive dynamic surface and nonlinear feedback
TL;DR: In this article, an adaptive dynamic surface control method using nonlinear feedback is proposed for controlling the uncertain Genesio-Tesi chaotic system, where the feedback gains self-adjust under different amplitudes of system states.
Proceedings ArticleDOI
A cascaded adaptive UUV tracking control design with ocean current
TL;DR: In this paper, a tracking control law design for unmanned underwater vehicles that take into account the hydrodynamic and the ocean current effects is proposed, and a cascaded adaptive design with ocean current is designed.
Proceedings ArticleDOI
Formation Tracking Control for a Team of Networked Underwater Robot Systems with Uncertain Hydrodynamics
Zhi Feng,Guoqiang Hu +1 more
TL;DR: This paper investigates robust formation tracking under a static communication network, where the states of AUVs form a predefined time-varying formation, while tracking a desired time- varying reference trajectory.
Journal ArticleDOI
Flexible Formation Tracking Control of Multiple Unmanned Surface Vessels for Navigating Through Narrow Channels with Unknown Curvatures
TL;DR: In this article , a flexible formation tracking control protocol (FFTC) for multiple UAVs to pass through narrow water channels with unknown curvatures is proposed, where an observer is developed to estimate the curvatures of channels.
References
More filters
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.
Journal ArticleDOI
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.