Trajectory tracking control for autonomous underwater vehicles under quantized state feedback and ocean disturbances

Zhou, Bin; Su, Yumin; Huang, Bing; Wang, Weikai; Zhang, Enhua

doi:10.1016/j.oceaneng.2022.111500

Cited by 15 publications

(7 citation statements)

References 40 publications

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“…The above analysis shows that the cooperative tracking controller (20) and adaptive law (21) can make every follower's closed-loop system achieve the desired performance.…”

Section: Stability Analysismentioning

confidence: 96%

“…Note that we only use quantized syatem states q(η i ) and q(v i ) to replace states η i and vi , respectively, in (4), ( 6), (11) and (12), then ( 20)-( 26) can be obviously obtained. In fact, by the cooperative tracking controller (20) and adaptive law (21), which are made up of quantized system states q(η i ) and q(v i ), we can still guarantee the performance of evey follower.…”

Section: Cooperative Adaptive Tracking Control Based On Quantized Statesmentioning

confidence: 99%

“…The quantization feedback tracking control of mobile robots with state quantization and input quantization were studied in [20]. A novel quantized extended state observer is firstly proposed in [21] to study the tracking control of autonomous underwater vehicles. For the trajectory tracking problem of surface vessel, a quantized state-feedback robust controller is established in [22].…”

Section: Introductionmentioning

confidence: 99%

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Cooperative Adaptive Tracking Control Based on Quantized States for Multiple Surface Vessels

Xu,

Feng,

Yao

2024

IEEE Access

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The cooperative adaptive tracking control based on full states quantization is investigated in this paper for multiple uncertain surface vessel systems. Firstly, an uncertain surface vessel system model based on disturbance accelerations is presented. Next, using the quantized system states, a series of cooperative tracking controllers and adaptive laws are constructed such that the closed-loop system of every follower is practically stable and the tracking error between every follower and the leader can be adjusted arbitrarily small by parameter adjustment technique. Finally, a simulation example is given to verify the effectiveness of the proposed control strategy.INDEX TERMS practical stability, states quantization, cooperative control, adaptive control.

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“…The above analysis shows that the cooperative tracking controller (20) and adaptive law (21) can make every follower's closed-loop system achieve the desired performance.…”

Section: Stability Analysismentioning

confidence: 96%

Section: Cooperative Adaptive Tracking Control Based On Quantized Statesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Cooperative Adaptive Tracking Control Based on Quantized States for Multiple Surface Vessels

Xu,

Feng,

Yao

2024

IEEE Access

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“…Hence, the continuous control methods are unnecessary and risk packet dropout or even inducing system instability 27 . Thus, serval methods, such as impulsive control, sampled-data control, and quantization methods [28][29][30][31][32] were presented for USVs. Apart from the above methods, it has been shown that the update frequency of the control signals can be reduced by adopting an event-triggered mechanism 33 , where the instants for updating are discrete rather than continuous.…”

Section: Introductionmentioning

confidence: 99%

Fully distributed formation-containment control for multiple unmanned surface vehicles with intermittent dynamic event-triggered protocols

Zhang

Huang

Zhou

et al. 2023

Preprint

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This paper investigates the layered formation-containment control problem for multiple unmanned surface vehicles (USVs) with intermittent dynamic event-triggered protocols. Initially, the formation tracking controllers are designed for leaders to form the desired formation configuration along the reference trajectory in the first layer. In the proposed controllers, the intermittent framework is introduced to guarantee the stability of systems subject to inevitable factors including cyber-attacks or equipment constraints. Moreover, under the above intermittent framework, the dynamic event-triggered mechanism (DETM) is adopted to reduce the update frequency of control signals with positive minimum inter-event time (MIET) guarantees. Then, the containment controllers are developed for followers to converge to the convex hull spanned by leaders in the second layer. Besides, to remove the controllers’ dependency on global information, fully distributed thought is adopted in both layers. Finally, the theoretical analysis and simulation results are provided to evaluate the effectiveness of the proposed control scheme.

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“…Though effective, most of these results are only applicable for multi‐agent systems. In other words, they cannot be directly utilized for marine vehicles, which contains complicated nonlinear model dynamics 31‐33 . For the best knowledge of authors, formation maneuver control for multiple USV systems is still an open problem that should be solved.…”

Section: Introductionmentioning

confidence: 99%

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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Trajectory tracking control for autonomous underwater vehicles under quantized state feedback and ocean disturbances

Cited by 15 publications

References 40 publications

Cooperative Adaptive Tracking Control Based on Quantized States for Multiple Surface Vessels

Cooperative Adaptive Tracking Control Based on Quantized States for Multiple Surface Vessels

Fully distributed formation-containment control for multiple unmanned surface vehicles with intermittent dynamic event-triggered protocols

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

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