Finite-time distributed formation control for multiple unmanned surface vehicles with input saturation

Huang, Bing; Song, Shuo; Zhu, Cheng; Li, Jun; Zhou, Bin

doi:10.1016/j.oceaneng.2021.109158

Cited by 82 publications

(34 citation statements)

References 30 publications

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“…For details of leaders' control methods, one can refer to our previous works. 12,43 The two-layer affine formation control issue for multiple USV systems will be carried out in further studies.…”

Section: Problem Formulationmentioning

confidence: 99%

“…On account of this issue, fruitful results have been presented by scholars, involving behavior-based methods, 5,6 virtual structure methods, 7 leader-follower methods, 3,[8][9][10] and distributed methods. [11][12][13][14] In contrast to the formation keeping issue, the formation maneuver control requires multiple SV systems not only achieving the desired formation shape, but also maneuvering as a group in rotation, shearing, translation, scaling or the combination of them. In practice, the collaborative SV system usually works in complex environments with large numbers of obstacles and terrain constraints.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, it is necessary to make the formation geometric organized as a time-varying structure to meet complex maneuverability requirements. Unfortunately, due to technical difficulties, most existing results [1][2][3][5][6][7][8][9][10][11][12][13] can only ensure the multiple SV system moves with a fixed formation shape, while literatures in achieving SVs' formation maneuver are still rare. Comparing with formation keeping control methods, the formation maneuver control can organize the formation group in a more flexible way and make SVs competent for more general practical application scenarios.…”

Section: Introductionmentioning

confidence: 99%

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Distributed observer based event‐triggered affine formation maneuver control for underactuated surface vessels with positive minimum inter‐event times

Zhou

Huang

Mao

et al. 2022

Intl J Robust & Nonlinear

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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.

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Section: Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Distributed observer based event‐triggered affine formation maneuver control for underactuated surface vessels with positive minimum inter‐event times

Zhou

Huang

Mao

et al. 2022

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

show abstract

“…In [24], a dynamic surface control scheme was proposed for a class of uncertain strict-feedback nonlinear systems subject to input saturation. Furthermore, auxiliary dynamic systems have been used extensively for nonlinear systems design due to their efficiency and design flexibility [16,[25][26][27].…”

Section: Introductionmentioning

confidence: 99%

Swarm Control for Connectivity-Preserving and Collision-Avoiding Unmanned Surface Vehicles Subject to Multiple Constraints

Xia

Sun

Xia

2022

JMSE

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This paper investigates swarm control for unmanned surface vessels subject to multiple constraints. These constraints can be summarized as model parameter uncertainty, the unavailability of velocity measurements, time-varying environmental disturbances, input saturation and output constraints. Firstly, to recover unmeasured velocity information, to identify unknown vehicle dynamics and to estimate time-varying environmental disturbances, a neural adaptive state observer is designed for each vessel. Secondly, to avoid complex calculations, a second-order linear tracking differentiator is employed to generate a smooth reference signal and to extract the time derivative of the kinematic control law. Thirdly, to solve the input saturation, an auxiliary dynamic system is introduced. Fourthly, the barrier Lyapunov function is used to achieve connectivity preservation, collision avoidance and swarm control. Meanwhile, by using the estimated velocities of vessels, an output feedback controller is designed. The stability of the closed-loop system is proved. The simulation results show the effectiveness of the proposed swarm control strategy.

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“…In recent years, the input saturation problem of various systems has received the most extensive attention. In [17], an adaptive mechanism is devised to figure out the input saturation problem. In [18], a novel finite-time control approach is presented to overcome the effects of state constraints on system performance.…”

Section: Introductionmentioning

confidence: 99%

Swarm Control for Multiple Unmanned Surface Vehicles with Unknown Time-Varying Environmental Disturbance and Input Saturation

Xia

Sun

2022

Journal of Control Science and Engineering

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This paper addresses the swarm tracking problem of multiple unmanned surface vehicles subjected to unknown time-varying environmental disturbance and input saturation. The main control objective of this paper is that USVs cluster to follow the virtual leader with the desired position and heading and are required to maintain a specified position separation relative to both neighbor vehicles. In order to achieve the design goal, we mainly focus on three aspects. Firstly, to estimate the external disturbance accurately and improve the convergence speed, a finite-time disturbance observer is designed. Secondly, an auxiliary dynamic system is introduced to solve the input saturation problem. Thirdly, an output feedback controller based on a finite-time disturbance observer and an auxiliary dynamic system is designed to achieve swarm control of multiple unmanned surface vehicles. The stability of the system is proved by the Lyapunov directly method. Finally, the simulation results show that the proposed control strategy is effective.

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Finite-time distributed formation control for multiple unmanned surface vehicles with input saturation

Cited by 82 publications

References 30 publications

Distributed observer based event‐triggered affine formation maneuver control for underactuated surface vessels with positive minimum inter‐event times

Distributed observer based event‐triggered affine formation maneuver control for underactuated surface vessels with positive minimum inter‐event times

Swarm Control for Connectivity-Preserving and Collision-Avoiding Unmanned Surface Vehicles Subject to Multiple Constraints

Swarm Control for Multiple Unmanned Surface Vehicles with Unknown Time-Varying Environmental Disturbance and Input Saturation

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