Three-dimensional formation–containment control of underactuated AUVs with heterogeneous uncertain dynamics and system constraints

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

doi:10.1016/j.oceaneng.2021.109661

Cited by 29 publications

(7 citation statements)

References 43 publications

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“…However, cooperative control of heterogeneous spatial underactuated vehicle networks has not been sufficiently addressed in the literature. In the work of Zhang et al, 30 the formation-containment control problem was considered for heterogeneous underactuated AUVs in three-dimensional space based on a simplified 5-DOF model. In the works of Mu et al, 31,32 an integral sliding mode control law and a linear quadratic regulation (LQR) consensus protocol were proposed for heterogeneous multi-vehicle systems consisting of quadrotors and wheeled mobile robots based on the linearized models.…”

Section: Related Workmentioning

confidence: 99%

“…Recently, in Reference 33, a coordinated trajectory tracking controller was developed based on cascaded system theory and Lyapunov analysis for the marine aerial-surface heterogeneous system composed of a quadrotor and a (fully-actuated) surface vehicle. Nevertheless, in the above-mentioned works, [30][31][32][33] the vehicle models in the heterogeneous networks are either simplified, linearized, or partially assumed to be fully actuated.…”

Section: Related Workmentioning

confidence: 99%

“…Compared with existing results in the literature and in contrast to existing controllers in References 22‐27, which are applicable only to homogeneous quadcopter networks, the approach proposed in this article can be applied to heterogeneous spatial underactuated vehicle networks. In contrast to the existing methods in References 30‐33, the approach proposed in this article does not simplify the model and considers the full nonlinear vehicle dynamics. In contrast to the existing methods in References 16‐21, the proposed approach is robust to switching topologies and communication delays .…”

Section: Introductionmentioning

confidence: 99%

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Range observer‐based formation control for heterogeneous spatial underactuated vehicle networks

Wang

Nersesov

Ashrafiuon

2023

Adaptive Control & Signal

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In this work, we solve the distributed formation control problem for heterogeneous spatial underactuated vehicle networks subject to switching topologies.We consider the spatial rigid body model of underwater and aerial vehicles with one translational actuator for propulsion and three rotational actuators, without any simplification. A distributed finite-time sliding mode observer is designed to estimate the ranges between vehicles based on the bearing angles, and thus, the control design does not require relative position or distance measurements.A coordinate transformation is proposed to define continuous reference velocity trajectories under switching topologies. Then, based on the cascade structure, a distributed formation protocol is presented which guarantees the global asymptotic convergence for the closed-loop system. The formation controller has a simple structure, requires only neighbor-to-neighbor information exchange, and all the measurements may be obtained using simple onboard sensors. Numerical simulations for a group of heterogeneous spatial underactuated vehicles including autonomous underwater vehicles and quadrotors are presented.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Range observer‐based formation control for heterogeneous spatial underactuated vehicle networks

Wang

Nersesov

Ashrafiuon

2023

Adaptive Control & Signal

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“…At the same time, formation control has become a fundamental issue in the cooperative control of multiple AUVs. In recent years, many scholars have carried out research on the formation control of multiple agents and the common methods are as follows: the virtual structure method [10,11]; the behaviorbased strategy [12]; the leader-follower approach [13][14][15][16][17][18][19][20]; the potential field function approach [21]; the path-following method [22]; and the consensus theory method [23,24]. Due to the complicated underwater environment, most methods cannot be directly applied to the formation control of multiple AUVs.…”

Section: Introductionmentioning

confidence: 99%

Formation Control of Multiple Autonomous Underwater Vehicles under Communication Delay, Packet Discreteness and Dropout

Zhang

et al. 2022

JMSE

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Effective communication between multiple autonomous underwater vehicles (AUVs) is necessary for formation control. As the most reliable underwater communication method, acoustic communication still has many constraints compared with radio communication, which affects the effectiveness of formation control. Therefore, this paper proposes a formation control scheme for multiple AUVs under communication delay, packet discreteness and dropout. Firstly, the communication delay is estimated based on the kernel density estimation method. To solve the problem of packet discreteness and dropout, the curve fitting method is used to predict the states of the AUV. Secondly, a follower controller is designed based on the leader–follower approach using input–output feedback linearization, which is proven to be stable with Lyapunov stability theory. Then, some simulation results are presented to demonstrate the stability and accuracy of the formation control in different communication environments. Finally, the field tests on the lake show that the scheme introduced in this paper is valid and practical.

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“…The kinematic and dynamic models of AUVs commonly contain a wealth of nonlinear and strongly coupled parameters, which causes the coordinated formation control of AUVs to become a challenging problem. Over a decade, for designing valid control protocols to solve the motion control or attitude control problems of AUVs, numerous control methods for nonlinear models, containing backstepping method, 9,10 sliding mode control, 11,12 adaptive control, [13][14][15][16] and so on, have been studied further from various aspects. Although these nonlinear control methods are available for solving the formation issue of multiple AUVs with unknown non-linearities and external environmental disturbances, they rarely analyze the interacting network topology of multiple AUVs.…”

Section: Introductionmentioning

confidence: 99%

Discrete-time event-based coordinated formation control of multiple AUVs with time-varying delay and alterable topology

Zeng

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article considers the issue of event-based coordinated formation control for multiple autonomous underwater vehicles subject to time-varying communication delay and alterable topology under discretized time. First, to derive the dynamics model in the discrete-time domain, the state feedback technique and the forward difference approach are employed for the continuous-time nonlinear model of autonomous underwater vehicle. For each follower, the event-triggering function and the coordinated controller are designed, using only discrete-time state information of the leader or other followers. Under this control strategy, the controller will not be updated at each discrete-time instant. Then, the coordinated control problem is turned into the asymptotic stability problem of the multi-autonomous underwater vehicle system. According to the stability analysis, sufficient conditions are presented for successfully completing the formation assignment without and with time-varying delay, respectively. Finally, by performing some numerical simulation experiments, the efficacity of our proposed event-based controller and the correctness of the main theoretical results are demonstrated. The impact of different communication conditions on the control system is revealed by the comparison of several scenarios.

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Three-dimensional formation–containment control of underactuated AUVs with heterogeneous uncertain dynamics and system constraints

Cited by 29 publications

References 43 publications

Range observer‐based formation control for heterogeneous spatial underactuated vehicle networks

Range observer‐based formation control for heterogeneous spatial underactuated vehicle networks

Formation Control of Multiple Autonomous Underwater Vehicles under Communication Delay, Packet Discreteness and Dropout

Discrete-time event-based coordinated formation control of multiple AUVs with time-varying delay and alterable topology

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