Coordinated Path-Following Control for Multiple Autonomous Vehicles With Communication Time Delays
01 Sep 2020-IEEE Transactions on Control Systems and Technology (IEEE)-Vol. 28, Iss: 5, pp 2005-2012
TL;DR: A novel networked predictive control strategy for multiple nonlinear autonomous vehicles connected by digital networks that admits advantages such as high computational efficiency, robustness to disturbances, and relaxed restriction on the communication topology is proposed.
Abstract: In this brief, the coordinated path-following control for multiple nonlinear autonomous vehicles connected by digital networks is studied. To compensate for the time delays of the network actively, a novel networked predictive control strategy is proposed. Compared with existing networked control strategies, the control strategy proposed in this brief admits advantages such as high computational efficiency, robustness to disturbances, and relaxed restriction on the communication topology. The theoretical analysis of the proposed method is given and the conditions to achieve the control objectives are derived. Finally, the experiments are implemented to validate the effectiveness of the proposed method.
Citations
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01 Jan 2023
TL;DR: In this article , the authors investigated the problem of path following for the underactuated unmanned surface vehicles (USVs) subject to state constraints and proposed a useful control algorithm by combining the backstepping technique, adaptive dynamic programming (ADP), and the event-triggered mechanism.
Abstract: This article investigates the problem of path following for the underactuated unmanned surface vehicles (USVs) subject to state constraints. A useful control algorithm is proposed by combining the backstepping technique, adaptive dynamic programming (ADP), and the event-triggered mechanism. The presented approach consists of three modules: guidance law, dynamic controller, and event triggering. First, to deal with the "singularity" problem, the guidance-based path-following (GBPF) principle is introduced in the guidance law loop. In contrast to the traditional barrier Lyapunov function (BLF) method, this article converts the USV's constraint model to a class of nonlinear systems without state constraints by introducing a nonlinear mapping. The control signal generated by the dynamic controller module consists of a backstepping-based feedforward control signal and an ADP-based approximate optimal feedback control signal. Therefore, the presented scheme can guarantee the approximate optimal performance. To approximate the cost function and its partial derivative, a critic neural network (NN) is constructed. By considering the event-triggered condition, the dynamic controller is further improved. Compared with traditional time-triggered control methods, the proposed approach can greatly reduce communication and computational burdens. This article proves that the closed-loop system is stable, and the simulation results and experimental validation are given to illustrate the effectiveness of the proposed approach.
32 citations
TL;DR: In this article , a path-following controller consisting of an individual steering law and a distributed velocity control law is constructed for multiple robots traveling along a common curve, accomplishing a queue formation pattern with an equal arc spacing at a uniform velocity.
Abstract: This paper proposes a path-following control capable of reinforcing transient performances for networked mobile robots over a single curve. By resorting to a new coordinated error formulated by projective arc length rather than relative distance, a path-following controller consisting of an individual steering law and a distributed velocity control law is constructed for multiple robots traveling along a common curve, accomplishing a queue formation pattern with an equal arc spacing at a uniform velocity. Additionally, note that multi-robot missions always impose stringent time limits in practice, hence a tracking differentiator-based prescribed performance control (TDPPC) scheme is proposed to enforce tracking deviations of geometric and dynamic objectives approximating to pre-given ranges before an appointed time. The prominent merits of the developed scheme are that a cooperative behavior over a general curve can be acquired by assigning projective arc lengths, and a desired settling time for each robot can be arbitrarily designated free from initial conditions. All error variables of entire system are analyzed to be convergent. Simulation and experimental outcomes are given to reveal the utility of presented method.
15 citations
TL;DR: In this paper , a path-following controller consisting of an individual steering law and a distributed velocity control law is constructed for multiple robots traveling along a common curve, accomplishing a queue formation pattern with an equal arc spacing at a uniform velocity.
Abstract: This article proposes a path-following control capable of reinforcing transient performances for networked mobile robots over a single curve. By resorting to a new coordinated error formulated by projective arc length rather than relative distance, a path-following controller consisting of an individual steering law and a distributed velocity control law is constructed for multiple robots traveling along a common curve, accomplishing a queue formation pattern with an equal arc spacing at a uniform velocity. Additionally, note that multirobot missions always impose stringent time limits in practice, hence a tracking differentiator-based prescribed performance control (TDPPC) scheme is proposed to enforce tracking deviations of geometric and dynamic objectives approximating to pregiven ranges before an appointed time. The prominent merits of the developed scheme are that a cooperative behavior over a general curve can be acquired by assigning projective arc lengths, and a desired settling time for each robot can be arbitrarily designated free from initial conditions. All error variables of entire system are analyzed to be convergent. Simulation and experimental outcomes are given to reveal the utility of presented method.
13 citations
TL;DR: This article mainly researches the problem of distributed finite-time coordinated path-following for under-actuated autonomous surface vehicles (ASVs) within a network swarm using the constructed bionic swarm pattern and potential function.
Abstract: This article mainly researches the problem of distributed finite-time coordinated path-following for under-actuated autonomous surface vehicles (ASVs) within a network swarm. Each vehicle in swarm system suffers from velocity restrictions and multiple uncertainties including parameter perturbations and time-varying environment disturbances. Based on the constructed bionic swarm pattern and potential function, the swarm velocity guidance (SVG) with self-organization and collision avoidance is developed to guide ASV surge velocities and heading angles simultaneously. A distributed observer by adding correction terms to the vehicle model is involved to identify the lumped uncertainties, and the estimations are utilized as feed-forward compensation to weaken the uncertainty impact, thus achieving high tracking precision. By using asymmetric barrier Lyapunov function, the uncertainty observer based distributed surge and heading kinetics controllers under physical restrictions are devised to guarantee that the guided signals generated by SVG are tracked within finite time. Through simulation studies of swarm path-following, it is demonstrated that the designed control approach is feasible and efficient for multiple uncertain under-actuated ASVs.
12 citations
TL;DR: These problems are solved by introducing predicting error to the control scheme and the proposed algorithm is robust to model uncertainties, therefore, flexibility and robustness are preserved for the networked multi-agent systems.
Abstract: Networked predictive control is an effective method to handle time delays and data dropouts in networked control systems, but it is difficult to apply the control strategy to networked multi-agent systems. First, the computational burden will increase exceedingly when the control strategy is applied to networked multi-agent systems. Second, restrictions have to be imposed on the communication topology to implement the control strategy; Third, most existing networked predictive controllers lack robustness to model uncertainties. In this paper, these problems are solved by introducing predicting error to the control scheme. The proposed control strategy not only guarantees consensus and stability of the overall system, but also reduces the computational burden exceedingly. In addition, the proposed algorithm is robust to model uncertainties. At last, the proposed control strategy can be executed in distributed processors, therefore, flexibility and robustness are preserved for the networked multi-agent systems. These features make the control strategy applicable in practice. Digital simulations and experiments based on spacecraft simulators are carried out to verify the effectiveness of the proposed control strategy.
9 citations
References
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01 Jun 2021
TL;DR: The Society of Naval Architects and Marine Engineers as mentioned in this paper published a Handbook of Marine Craft Hydrodynamics and Motion Control for the U.S. military in the early 1970s.
Abstract: Technical and Research Symposium Society of Naval Architects and Marine EngineersMcGraw-Hill Encyclopedia of Science and TechnologyJane's High-speed Marine Craft and Air Cushion VehiclesNew York Port HandbookUndersea Technology Handbook, Directory无模型自适应控制兵法简述Marine Technology and SNAME News人月神話有限元方法Marine Robotics and Applications周易譯注余欢弹性固体中波的传播Aeroplane and Commercial Aviation NewsBulletin of the Permanent International Association of Navigation Congresses递推辨识的理论与实践Handbook of Marine Craft Hydrodynamics and Motion ControlTransactionsTransactions The Society of Naval Architects and Marine EngineersNaval Engineers JournalJane's High-speed Marine Craft核潜艇之旅生活的暗面食物恋Jane's Surface Skimmers美, 看不见的竞争力Mechanical Engineers' Handbook: Power; J. Kenneth Salisbury, editor离散时间控制系统概率, 随机变量与随机过程Government Reports Announcements & IndexMonthly Catalog of United States Government PublicationsDirectory of Special Libraries and Information Centers一個人住第9年Penny Stock HandbookHandbook on Selling to the U.S. MilitaryUnderwater Science and Technology Information Bulletin一个人流浪, 不必去远方The ProceedingsGovernment Reports Announcements
1,630 citations
Book•
20 Jul 2011
TL;DR: Technical and Research Symposium Society of Naval Architects and Marine EngineersMcGraw-Hill Encyclopedia of Science and TechnologyJane's High-speed Marine Craft and Air Cushion VehiclesUndersea Technology Handbook, Directory
1,077 citations
"Coordinated Path-Following Control ..." refers methods in this paper
...The model of the spacecraft simulator can be written as [30]...
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TL;DR: It is shown that the finite settling time of the proposed general framework for robust consensus design is upper bounded for any initial condition, which makes it possible for network consensus problems to design and estimate the convergence time offline for a multi-agent team with a given undirected information flow.
Abstract: This paper investigates the robust finite-time consensus problem of multi-agent systems in networks with undirected topology. Global nonlinear consensus protocols augmented with a variable structure are constructed with the aid of Lyapunov functions for each single-integrator agent dynamics in the presence of external disturbances. In particular, it is shown that the finite settling time of the proposed general framework for robust consensus design is upper bounded for any initial condition. This makes it possible for network consensus problems to design and estimate the convergence time offline for a multi-agent team with a given undirected information flow. Finally, simulation results are presented to demonstrate the performance and effectiveness of our finite-time protocols.
496 citations
"Coordinated Path-Following Control ..." refers methods in this paper
...The methods can be categorized into two classes: the robust control methods [16]–[19] and the networked predictive control methods [20]–[22]....
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TL;DR: In this article, a 3 degrees of freedom nonlinear controller for path following of marine craft using only two controls is derived using nonlinear control theory using a geometric assignment based on a line-of-sight projection algorithm for minimization of the cross-track error to the path.
415 citations
TL;DR: A nonlinear adaptive path following controller that compensates for drift forces through vehicle sideslip that is motivated by a line-of-sight (LOS) guidance principle used by ancient navigators and intended for maneuvering in the horizontal-plane at given speeds.
Abstract: We present a nonlinear adaptive path following controller that compensates for drift forces through vehicle sideslip. Vehicle sideslip arises during path following when the vehicle is subject to drift forces caused by ocean currents, wind, and waves. The proposed algorithm is motivated by a line-of-sight (LOS) guidance principle used by ancient navigators, which is here extended to path following of Dubins paths. The unknown sideslip angle is treated as a constant parameter, which is estimated using an adaptation law. The equilibrium points of the cross-track and parameter estimation errors are proven to be uniformly semiglobally exponentially stable. This guarantees that the estimated sideslip angle converges to its true value exponentially. The adaptive control law is in fact an integral LOS controller for path following since the parameter adaptation law provides integral action. The proposed guidance law is intended for maneuvering in the horizontal-plane at given speeds and typical applications are marine craft, autonomous underwater vehicles, unmanned aerial vehicles as well as other vehicles and crafts, where the goal is to follow a predefined parametrized curve without time constraints. Two vehicle cases studies are included to verify the theoretical results.
359 citations
"Coordinated Path-Following Control ..." refers methods in this paper
...The line-ofsight guidance law is an effective method in path-following control, and many research results can be found derived from this method such as [2], [8]–[10]....
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