Journal ArticleDOI
Distributed observer based event‐triggered affine formation maneuver control for underactuated surface vessels with positive minimum inter‐event times
TLDR
In this article , a distributed event-triggered affine formation maneuver control problem for multiple underactuated surface vessel (USV) systems with positive minimum inter-event times (MIET) was investigated.Abstract:
This article investigates the distributed event‐triggered affine formation maneuver control problem for multiple underactuated surface vessel (USV) systems with positive minimum inter‐event times (MIET). Unlike common formation control methods that only ensure the formation system to keep a fixed geometric shape, the proposed scheme enables multiple USVs maneuver as a group in translation, shearing, rotation, or combinations of them. The proposed control strategy is composed of two parts. First, a distributed event‐triggered observer (DETO) is proposed to observe the time‐varying target formation under the lack of global leaders' information and govern the inter‐vessel communications among the formation group. Besides, the MIET of the designed communication strategy is proved to be strictly positive and computable from formation configurations and control parameters. With these guarantees, the maximum communication frequency can be known in advance. Then, upon the DETO signals, the adaptive local tracking controller is subsequently synthesized for each vessel to realize the target formation track. Rigorous theoretical analysis and simulation results are finally conducted to verify the validness and effectiveness of the proposed algorithm.read more
Citations
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Journal ArticleDOI
Completely Distributed Affine Formation Maneuvering of Networked Marine Surface Vehicles With Cooperation Localization
TL;DR: In this article , a completely distributed affine formation maneuver control (CDAFC) algorithm for networked marine surface vehicles (NMSVs) is developed, which can achieve arbitrary preset configuration transformations, while only a small part of the formation members called leaders obtain the configuration information.
Journal ArticleDOI
Completely Distributed Affine Formation Maneuvering of Networked Marine Surface Vehicles With Cooperation Localization
TL;DR: In this article , a completely distributed affine formation maneuver control (CDAFC) algorithm for networked marine surface vehicles (NMSVs) is developed, which can achieve arbitrary preset configuration transformations, while only a small part of the formation members called leaders obtain the configuration information.
Journal ArticleDOI
Layered fully distributed formation-containment tracking control for multiple unmanned surface vehicles
TL;DR: In this paper , the formation-containment tracking control (FCTC) problem for UAV swarm with multiple leaders is addressed, and a layered framework is employed to distinguish the behaviour and role of agents in the formation system.
Journal ArticleDOI
Improved dynamic event-triggered anti-unwinding control for autonomous underwater vehicles
TL;DR: In this paper , an improved adaptive dynamic event-triggered control scheme for autonomous underwater vehicles (AUVs) under the quaternion-based attitude representation was investigated, which makes the trade-off between the control performance of the AUV system and the communication frequency in the controller-to-actuator (CA) channel easier to be achieved.
References
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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
Decentralized Scheme for Spacecraft Formation Flying via the Virtual Structure Approach
Wei Ren,Randal W. Beard +1 more
TL;DR: Following a decentralized coordination architecture via the virtual structure approach, decentralized formation control strategies are introduced, which are appropriate when a large number of spacecraft are involved and/or stringent interspacecraft communication limitations are exerted.
Guidance And Control Of Ocean Vehicles
TL;DR: In this paper, the authors describe how to download and install guidance and control of ocean vehicles in the house, workplace, or perhaps in your method can be all best place within net connections.
Journal ArticleDOI
Leader-follower formation control of underactuated autonomous underwater vehicles
TL;DR: In this article, a leader-follower formation control of multiple underactuated autonomous underwater vehicles (AUVs) is proposed, where the follower tracks a reference trajectory based on the leader position and predetermined formation without the need for leader's velocity and dynamics.
Journal ArticleDOI
Leader–Follower Formation Control of USVs With Prescribed Performance and Collision Avoidance
TL;DR: A decentralized adaptive formation controller is designed that ensures uniformly ultimate boundedness of the closed-loop system with prescribed performance and avoids collision between each vehicle and its leader.