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.
About: This article is published in Ocean Engineering.The article was published on 2010-12-01. It has received 566 citations till now. The article focuses on the topics: Underactuation & Backstepping.
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TL;DR: 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.
444 citations
Cites background from "Leader-follower formation control o..."
...Also, the leader-follower formation control of underactuated autonomous underwater vehicles is reported in [19], where a virtual vehicle is constructed such that its trajectory converges to a reference point....
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...During the last decade, the marine control community has focused on formation control and most of works appear to have been done within the leader-follower framework [15]–[19]....
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TL;DR: The trajectory tracking problem for a fully actuated autonomous underwater vehicle (AUV) that moves in the horizontal plane is investigated and two neural networks, including a critic and an action NN, are integrated into the adaptive control design.
Abstract: In this paper, we investigate the trajectory tracking problem for a fully actuated autonomous underwater vehicle (AUV) that moves in the horizontal plane. External disturbances, control input nonlinearities and model uncertainties are considered in our control design. Based on the dynamics model derived in the discrete-time domain, two neural networks (NNs), including a critic and an action NN, are integrated into our adaptive control design. The critic NN is introduced to evaluate the long-time performance of the designed control in the current time step, and the action NN is used to compensate for the unknown dynamics. To eliminate the AUV’s control input nonlinearities, a compensation item is also designed in the adaptive control. Rigorous theoretical analysis is performed to prove the stability and performance of the proposed control law. Moreover, the robustness and effectiveness of the proposed control method are tested and validated through extensive numerical simulation results.
370 citations
TL;DR: It is shown that under the proposed control method, despite the presence of actuator faults and system uncertainties, the formation tracking errors can converge into arbitrarily small neighborhoods around zero in finite time, while the constraint requirements on the LOS range and angle will not be violated.
344 citations
TL;DR: This paper considers the trajectory tracking of a marine surface vessel in the presence of output constraints and uncertainties, and an asymmetric barrier Lyapunov function is employed to cope with the output constraints.
Abstract: In this paper, we consider the trajectory tracking of a marine surface vessel in the presence of output constraints and uncertainties. An asymmetric barrier Lyapunov function is employed to cope with the output constraints. To handle the system uncertainties, we apply adaptive neural networks to approximate the unknown model parameters of a vessel. Both full state feedback control and output feedback control are proposed in this paper. The state feedback control law is designed by using the Moore–Penrose pseudoinverse in case that all states are known, and the output feedback control is designed using a high-gain observer. Under the proposed method the controller is able to achieve the constrained output. Meanwhile, the signals of the closed loop system are semiglobally uniformly bounded. Finally, numerical simulations are carried out to verify the feasibility of the proposed controller.
322 citations
Cites methods from "Leader-follower formation control o..."
...Approximationbased control technique which uses NN is employed to handle the model parametric uncertainties and unknown disturbances in [51]–[55]....
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01 Jun 2016
TL;DR: In this paper, adaptive neural network tracking control of a robotic manipulator with input deadzone and output constraint is presented, where adaptive neural networks are used to approximate the deadzone function and the unknown model of the robotic manipulators.
Abstract: In this paper, we present adaptive neural network tracking control of a robotic manipulator with input deadzone and output constraint A barrier Lyapunov function is employed to deal with the output constraints Adaptive neural networks are used to approximate the deadzone function and the unknown model of the robotic manipulator Both full state feedback control and output feedback control are considered in this paper For the output feedback control, the high gain observer is used to estimate unmeasurable states With the proposed control, the output constraints are not violated, and all the signals of the closed loop system are semi-globally uniformly bounded The performance of the proposed control is illustrated through simulations
306 citations
References
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Book•
01 Jan 1994
TL;DR: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High-Speed Craft Appendices Bibliography Index as mentioned in this paper
Abstract: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High--Speed Craft Appendices Bibliography Index
3,577 citations
01 Dec 1998
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.
Abstract: New reactive behaviors that implement formations in multirobot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation, on robots in the laboratory and aboard DARPA's HMMWV-based unmanned ground vehicles. The technique has been integrated with the autonomous robot architecture (AuRA) and the UGV Demo II architecture. The results 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.
3,008 citations
Book•
01 Feb 1989TL;DR: Stability theory simple adaptive systems adaptive observers the control problem persistent excitation error models robust adaptive controlThe control problem - relaxation of assumptions multivariable adaptive systems applications of adaptive control.
Abstract: Stability theory simple adaptive systems adaptive observers the control problem persistent excitation error models robust adaptive control the control problem - relaxation of assumptions multivariable adaptive systems applications of adaptive control.
2,955 citations
TL;DR: This work presents a stable control strategy for groups of vehicles to move and reconfigure cooperatively in response to a sensed, distributed environment and focuses on gradient climbing missions in which the mobile sensor network seeks out local maxima or minima in the environmental field.
Abstract: We present a stable control strategy for groups of vehicles to move and reconfigure cooperatively in response to a sensed, distributed environment. Each vehicle in the group serves as a mobile sensor and the vehicle network as a mobile and reconfigurable sensor array. Our control strategy decouples, in part, the cooperative management of the network formation from the network maneuvers. The underlying coordination framework uses virtual bodies and artificial potentials. We focus on gradient climbing missions in which the mobile sensor network seeks out local maxima or minima in the environmental field. The network can adapt its configuration in response to the sensed environment in order to optimize its gradient climb.
1,291 citations
TL;DR: Results are presented that demonstrate that this approach to general control strategy is capable of achieving high precision movement that is fault tolerant and exhibits graceful degradation of performance.
Abstract: A key problem in cooperative robotics is the maintenance of a geometric configuration during movement. To address this problem, the concept of a Virtual Structure is introduced. Using this idea, a general control strategy is developed to force an ensemble of robots to behave as if they were particles embedded in a rigid structure. The method was instantiated and tested using both simulation and experimentation with a set of 3 differential drive mobile robots. Results are presented that demonstrate that this approach is capable of achieving high precision movement that is fault tolerant and exhibits graceful degradation of performance. In addition, this algorithm does not require leader selection as in other cooperative robotic strategies. Finally, the method is inherently highly flexible in the kinds of geometric formations that can be maintained.
1,013 citations