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
The multi-AUV time-varying formation reconfiguration control based on rigid-graph theory and affine transformation
TL;DR: In this article , a distance-based graph rigidity with backstepping technology is used to acquire the initial nominal formation and transform the nominal formation into any desired formation shape using the properties of the affine transformation (including translation, scaling, rotation, shearing or a combination of them).
Proceedings ArticleDOI
Single neural network approximation-based adaptive control of a class of uncertain strict-feedback nonlinear systems
Mingxin Wang,Gang Sun +1 more
TL;DR: In this article, a single neural network approximation-based adaptive control design approach for a class of uncertain strict-feedback nonlinear systems is presented, where all the unknown terms at intermediate steps are passed down and approximated by a neural network at the last step.
Proceedings ArticleDOI
A novel fast terminal sliding mode control method based on immersion and invariance for course control of USV
TL;DR: In this paper, a novel fast terminal sliding mode control approach based on system immersion and manifold invariant (FTSMC-I&I) is proposed to ensure all error signals globally exponentially converge to origin in finite-time by the novel Fast Terminal sliding mode controller, which can guarantee the asymptotic stability and the finite time convergence of the system from Lyapunov stability analysis.
Proceedings ArticleDOI
UDE-based dynamic surface control for strict-feedback systems with mismatched disturbances
TL;DR: The marriage of UDE with backstepping also relaxes the structural constraint of the UDE design for mismatched uncertainties and the uniformly ultimate boundedness of the closed-loop system is proved.
Dissertation
Cooperative Control and Fault Recovery for Network of Heterogeneous Autonomous Underwater Vehicles
TL;DR: In this paper, three cooperative control schemes based on dynamic surface control (DSC) technique are developed for a team of heterogeneous autonomous underwater vehicles (AUV), where the objective is to have the network of AUVs follow a desired trajectory while agents maintain a desired formation.
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.
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.