Guided leaderless coordinated formation algorithm for multiple surface vessels

Jiao, Jianfang; Liu, Weixue

doi:10.1016/j.jfranklin.2015.01.019

Cited by 15 publications

(9 citation statements)

References 28 publications

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“…Existing works on cooperative vessels consider the tracking topic, the consensus topic 1 , 2 , the containment topic 3 , 4 and the formation topic. The coordinated tracking has been concerned for a moving leader 5 , 6 or leaderless studies 7 in the practical marine systems. Among the formation control, the leader-follower architecture is an efficient design technique.…”

Section: Introductionmentioning

confidence: 99%

Platoon control design for unmanned surface vehicles subject to input delay

Liang

Zhang

Yang

2021

Sci Rep

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Vessel train formation as a new trend has been raised in cooperative control for multiple vessels. This paper addresses formation control design for a group of unmanned surface vehicles platoon considering input delay. To account for connectivity-preserving and collision-avoiding, Barrier Lyapunov function is incorporated into the constraints design of line-of-sight range and bearing. To alleviate the computational burden, neural dynamic model is employed to simplify the control design and smooth the input signals. Besides, input control arising from time delay due to mechanisms and communication is considered in the marine vessels. Within the framework of the backstepping technique, distributed coordination is accomplished in finite time and the uniformly ultimately boundness of overall system is guaranteed via rigorous stability analysis. Finally, the simulation is performed to verify the effectiveness of the proposed control method.

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Section: Introductionmentioning

confidence: 99%

Platoon control design for unmanned surface vehicles subject to input delay

Liang

Zhang

Yang

2021

Sci Rep

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“…Jiao et al . [17] and Yin et al . [18] designed the guidance‐control scheme where the guidance loop was utilised for generating a reference signal by using the formation tracking error, and the inner control system adopted a passive control method to track the reference signal.…”

Section: Introductionmentioning

confidence: 99%

Practical formation‐containment tracking for multiple autonomous surface vessels system

Wei

Dong

et al. 2019

IET Control Theory & Applications

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“…Similar research can refer to the literature. [14][15][16][17] In the leaderless structure system, although lots of consensus protocols can be designed to the states of system achieve agreement, the expected common values of state convergence are often uncontrollable. The consensus algorithms designed with leader-follower structure can solve these problems efficiently.…”

Section: Introductionmentioning

confidence: 99%

Consensus in networked multi-robot systems via local state feedback robust control

Zhang

Cao

2019

International Journal of Advanced Robotic Systems

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In the article, the consensus problem is considered for networked multi-robot systems, in which the dynamical equation of all robots is non-holonomic and nonlinear systems. In the multi-robot systems, each robot updates its current states and receives the states from the neighboring robots. Under the assumption that if the network graph is bidirectional, a local information-based state feedback robust controller is designed to make sure the convergence of the individual robots’ states to a common value. Finally, the effectiveness of the presented method is illustrated by the simulation results of a group of four mobile robots.

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Guided leaderless coordinated formation algorithm for multiple surface vessels

Cited by 15 publications

References 28 publications

Platoon control design for unmanned surface vehicles subject to input delay

Platoon control design for unmanned surface vehicles subject to input delay

Practical formation‐containment tracking for multiple autonomous surface vessels system

Consensus in networked multi-robot systems via local state feedback robust control

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