Collective Dynamics and Control for Multiple Unmanned Surface Vessels

Self Cite

This article studies the moving-target-fencing problem of multiple second-order vehicles, where the target moves with an unknown constant velocity. Without a predefined stand-off distance or formation, two classes of local cooperative controllers are proposed with and without velocity measurements. Specifically, the first controller uses the relative position information from the target and vehicle's neighbors, as well as the vehicle's velocity measurement, while the second controller relaxes the common requirement of velocity measurement of the vehicles. It is proved that both controllers simultaneously assure target fencing, collision avoidance, and velocity convergence. Finally, numerical simulations are provided to verify the efficacy of the proposed controllers.

“…Obviously, the equivalence also holds for the controller (20). Remark 6.…”

Section: Theorem 2 Consider the Multi-vehicle Dynamics (1) With The Control Input U I Defined Inmentioning

confidence: 86%

“…Similarly, Figure 5 depicts the target-fencing process of five vehicles under the controller (20). It is easy to see that the moving-target fencing is achieved.…”

Section: Simulationmentioning

confidence: 96%

Section: Mtf Without Velocity Measurementsmentioning

confidence: 99%

Section: Theorem 2 Consider the Multi-vehicle Dynamics (1) With The Control Input U I Defined Inmentioning

confidence: 99%

Section: Theorem 2 Consider the Multi-vehicle Dynamics (1) With The Control Input U I Defined Inmentioning

confidence: 99%

See 3 more Smart Citations

Cooperative fencing control of multiple second‐order vehicles for a moving target with and without velocity measurements

Kou

Huang

Chen

et al. 2021

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Designing a completely distributed observer with robustness against disturbances

Wang,

Zhang,

et al. 2024

Self Cite

Distributed observer is an effective scheme for state estimation of a targeted system, utilizing a network of sensors to perform local output measurements. In this article, the problem of designing a distributed observer for a linear time‐invariant system with external disturbances is addressed. The objective is to perform state estimation of such a system while simultaneously mitigating the impact of external disturbances and maintaining the distributed communication characteristics among the sensors. To achieve this, a completely distributed observer with robustness against disturbances is developed by combining the high‐gain observer technique and the adaptive coupling strength strategy. Initially, a traditional high‐gain observer is used for the state estimation on the observable subsystem, and subsequently a high‐gain observer without peaking is introduced to avoid the peaking phenomenon. Finally, numerical simulations are presented to verify the theoretical results.

Cooperative target fencing of multiple double‐integrator systems with connectivity preservation

Pan,

Chen

2024

In this article, we study the cooperative target‐fencing problem of multiple double‐integrator systems over a state‐dependent communication network. We propose a distributed control law to asymptotically fence a moving target while achieving both collision avoidance and connectivity preservation of the vehicles. In particular, a distributed observer is employed by each vehicle to estimate the position and the velocity of the target. Compared with the existing results, our approach can accommodate a larger class of target's trajectories. Furthermore, our control law is more practical since we do not require all vehicles to know the trajectory of the target. The effectiveness of our approach is illustrated by a numerical example.