Bearing-based formation control for multiple underactuated autonomous surface vehicles with flexible size scaling

Zhang, Yuwei; Wang, Shaoping; Wang, Xingjian; Tian, Xinyu

doi:10.1016/j.oceaneng.2022.113242

Cited by 23 publications

(8 citation statements)

References 42 publications

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“…Remark 3. The utilization of Assumption 3 is prevalent in tackling the bearing-based formation control with leader-follower structure [6,14]. When dealing with a formation system comprising a leader-following structure, it becomes essential to consider the controller design of the leader group.…”

Section: Assumption 2 (Interagent Collision Avoidance)mentioning

confidence: 99%

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Event‐triggered based bearing‐only formation control for nonlinear multi‐agent with unknown disturbance

Ding,

Zhang,

Zhang

et al. 2023

Asian Journal of Control

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This article delves into the bearing‐only formation tracking control problem of nonlinear multi‐agent systems with unknown disturbances and unmodeled dynamics, wherein the distributed control solely utilizes the relative bearing information of its neighbors. Firstly, a disturbance observer combined with a neural network is proposed to eliminate the impact of unknown disturbances and unmodeled dynamics. Additionally, a pioneering event‐triggered based backstepping control approach is put forth for the formation tracking control problem of nonlinear multi‐agent systems, which economizes on communication bandwidth and computing resources by decreasing the update frequency of the controller. Finally, using the Lyapunov method, it is demonstrated that all signals of the control system are bounded, and the convergence errors are confined to a small neighborhood of the origin while excluding the “Zeno behavior” phenomenon through rigorous proof.

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Section: Assumption 2 (Interagent Collision Avoidance)mentioning

confidence: 99%

“…Furthermore, compared to the position and distance‐based control method, the bearing‐based approach offers a simpler way to accomplish scaling and translation formation maneuver tasks. This is because the formation maneuver can be achieved by controlling the leader's motion while maintaining the bearing constraints intact [14].…”

Section: Introductionmentioning

confidence: 99%

Event‐triggered based bearing‐only formation control for nonlinear multi‐agent with unknown disturbance

Ding,

Zhang,

Zhang

et al. 2023

Asian Journal of Control

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“…In order to solve the above control problems, the relevant literature was investigated 22–32 . Sliding mode control, known for its robustness against external disturbances and system uncertainties, has been extensively employed by researchers in the design of fault‐tolerant control methods.…”

Section: Introductionmentioning

confidence: 99%

“…In order to solve the above control problems, the relevant literature was investigated. [22][23][24][25][26][27][28][29][30][31][32] Sliding mode control, known for its robustness against external disturbances and system uncertainties, has been extensively employed by researchers in the design of fault-tolerant control methods. To concurrently manage matched and mismatched disturbances within the system, a novel sliding mode control design methodology was introduced in the paper.…”

mentioning

confidence: 99%

Adaptive integral sliding mode fault‐tolerant control for diesel engine air path system via disturbance observer

Wu,

Wang,

Zhang

et al. 2024

Intl J Robust & Nonlinear

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This paper proposes a fault‐tolerant control strategy for the air path system of a turbocharged diesel engine, considering the simultaneous presence of matched and mismatched external disturbances, additive and loss of effectiveness fault modes in the EGR and VGT subsystems. Firstly, a disturbance observer based on theory is designed for estimating additive faults and external disturbances, and the upper bound of observation error is obtained. Based on the observation information, an integral sliding mode surface is designed, and the effectiveness of the sliding mode surface is analyzed. For the loss of effectiveness faults in the actuators, a novel adaptive update sliding mode controller is designed. The proposed control algorithm can get the fault information of the system and achieve fault‐tolerant control of through controller reconstruction. Ultimately, the effectiveness of the proposed method is validated through simulations and comparative analysis.

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“…25 For instance, the anti-windup compensator was employed to address the input constraints. 26 Some researches considered the saturation nonlinearity as the dynamic uncertainty, and utilized neural networks 27 and fuzzy approximation 28 to compensate for the control truncation. Nevertheless, these anti-windup methods handled the saturation problem in a passive manner, and cannot avoid the saturation phenomenon intrinsically.…”

mentioning

confidence: 99%

Three‐dimensional path following control of underactuated autonomous underwater vehicles with nonzero roll dynamics: A novel line‐of‐sight‐guided approach

Zhang,

Li,

Wang

et al. 2024

Intl J Robust & Nonlinear

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Most existing path following control approaches for underactuated Autonomous underwater vehicles (AUVs) assumed that the roll angle can be passively stabilized at zero, and simplified the problem to the 5‐degree‐of‐freedom model. However, in practice, the roll motion suffers from undesirable oscillations induced by environmental disturbances, unbalanced propeller torque, etc. To preserve the stability of the system under nonzero roll dynamics, this paper proposes a novel line‐of‐sight‐ (LOS) guided path following control approach. Firstly, the spatial path following error dynamics model is derived to comprehensively reveal the negative effect of roll dynamics. Secondly, an improved LOS guidance law is designed to compensate for the nonzero roll angle. A salient feature is that the proposed guidance law can be applied to the underwater vehicle no matter it is underactuated in the roll motion or not. Thirdly, by assigning the guidance angles to the desired attitude angles, a robust attitude tracking controller is developed, in which the adaptive estimation technique is employed to handle the lumped uncertainties. The tanh‐based saturation function is incorporated such that the resultant control signals are inherently bounded. The closed‐loop path following and attitude tracking errors are proved to be globally asymptotically stable at the origin. Comparative simulation results are provided to substantiate the effectiveness and superiority of the proposed method.

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Bearing-based formation control for multiple underactuated autonomous surface vehicles with flexible size scaling

Cited by 23 publications

References 42 publications

Event‐triggered based bearing‐only formation control for nonlinear multi‐agent with unknown disturbance

Event‐triggered based bearing‐only formation control for nonlinear multi‐agent with unknown disturbance

Adaptive integral sliding mode fault‐tolerant control for diesel engine air path system via disturbance observer

Three‐dimensional path following control of underactuated autonomous underwater vehicles with nonzero roll dynamics: A novel line‐of‐sight‐guided approach

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