Adaptive Leader–Follower Formation Control of Underactuated Surface Vessels Under Asymmetric Range and Bearing Constraints

Ghommam, Jawhar; Saad, Maarouf

doi:10.1109/tvt.2017.2760367

Cited by 113 publications

(55 citation statements)

References 33 publications

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“…A NN-based reinforcement learning algorithm is used to solve an unknown disorder, uncertainty, and non-linear input control. A leader-follower method with an asymmetric limitation in the range and tolerance of the LOS angle is presented to track error between leader and follower for sub-active surface vessels is presented in [36]. It is assumed that the information speed of the leader is not available for tracking purposes.…”

Section: Related Workmentioning

confidence: 99%

Adaptive Leader-Follower Formation Control of Under-actuated Surface Vessels with Model Uncertainties and Input Constraints

2019

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This paper deals with the leader-follower formation control of underactuated autonomous surface vehicles in the presence of model uncertainties and input constraints. In a leader-follower formation, an autonomous surface vehicle (ASV) called leader tracks a pre-described trajectory and other ASVs called followers that are controlled to follow the leader with a desired distance and desired relative bearing. To this end, some adaptive robust techniques are adopted to guarantee the robustness of the closed-loop system against model uncertainties, external disturbances, and input saturation constraints. Based on the Lyapunov synthesis, it is proven that with the developed formation controllers, the closed-loop system is stable and all the formation errors converge to a small neighborhood of zero. Simulation results demonstrate the effectiveness of the proposed method.

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Section: Related Workmentioning

confidence: 99%

Adaptive Leader-Follower Formation Control of Under-actuated Surface Vessels with Model Uncertainties and Input Constraints

2019

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“…Based on Lyapunov stability theory and finite time theory, they proved that formation tracking error could converge into a small adjacent domain of approximately 0 within the finite time, while comparative simulation experiment was conducted to verify the effectiveness of the algorithm. However, they did not take into account the problem of collision prevention among formation members and the influence of leader's failure on formation control in the leader-follower mode [17].…”

Section: Usv Controlmentioning

confidence: 99%

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Liu

Zhang

2020

Sensors

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Multi-under-actuated unmanned surface vehicles (USV) path tracking control is studied and decoupled by virtue of decentralized control. First, an improved integral line-of-sight guidance strategy is put forward and combined with feedback control to design the path tracking controller and realize the single USV path tracking in the horizontal plane. Second, graph theory is utilized to design the decentralized velocity coordination controller for USV formation, so that multiple USVs could consistently realize the specified formation to the position and velocity of the expected path. Third, cascade system theory and Lyapunov stability are used to respectively prove the uniform semi-global exponential stability of single USV path tracking control system and the global asymptotic stability and uniform local exponential stability of coordinated formation system. At last, simulation and field experiment are conducted to analyze and verify the advancement and effectiveness of the proposed algorithms in this paper.

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“…By that means, one can simply replace the presented BLF with the quadratic one when no constraints are required. Note that a conventional logarithm-based BLF like [38,39,64,77], or secant type barrier Lyapunov function [26] will not have such property.…”

Section: Control Designmentioning

confidence: 99%

“…Logarithm BLF is employed to solve the trajectory tracking control problem of a fully actuated surface vessel with asymmetric output and input constraints [38]. In addition, this method is used for leader-follower formation control for a group of underactuated surface vessels subject to asymmetric range and bearing constraints [39].…”

Section: Introductionmentioning

confidence: 99%

Neural adaptive tracking control for an uncertain robot manipulator with time-varying joint space constraints

Rahimi

Howard

Cui

2018

Mechanical Systems and Signal Processing

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This paper presents a control design for a robotic manipulator with uncertainties in both actuator dynamics and manipulator dynamics subject to asymmetric time-varying joint space constraints. Tangent-type time-varying barrier Lyapunov functionals (tvBLFs) are constructed to ensure no constraint violation and to remove the need for transforming the original constrained system into an equivalent unconstrained one. Adaptive Neural Networks (NNs) are proposed to handle uncertainties in manipulator dynamics and actuator dynamics in addition to the unknown disturbances. Proper input saturation is employed, and it is proved that under the proposed method the stability and semi-global uniform ultimate boundedness of the closed-loop system can be achieved without violation of constraints. The effectiveness of the theoretical developments is verified through numerical simulations.

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Adaptive Leader–Follower Formation Control of Underactuated Surface Vessels Under Asymmetric Range and Bearing Constraints

Cited by 113 publications

References 33 publications

Adaptive Leader-Follower Formation Control of Under-actuated Surface Vessels with Model Uncertainties and Input Constraints

Adaptive Leader-Follower Formation Control of Under-actuated Surface Vessels with Model Uncertainties and Input Constraints

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Neural adaptive tracking control for an uncertain robot manipulator with time-varying joint space constraints

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