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Lewis, M. Anthony; Tan, Kar-Han

doi:10.1023/a:1008814708459

Cited by 912 publications

(55 citation statements)

References 18 publications

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“…Generally, formation control is often achieved using leader-follower method [18], behavior-based method [19], and virtual structure method [20]. In the leader-follower formation control, robots in the formation are appointed to two complementary roles, i.e., leader and follower.…”

Section: Usv Controlmentioning

confidence: 99%

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Liu

Zhang

2020

Sensors

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Multi-under-actuated unmanned surface vehicles (USV) path tracking control is studied and decoupled by virtue of decentralized control. First, an improved integral line-of-sight guidance strategy is put forward and combined with feedback control to design the path tracking controller and realize the single USV path tracking in the horizontal plane. Second, graph theory is utilized to design the decentralized velocity coordination controller for USV formation, so that multiple USVs could consistently realize the specified formation to the position and velocity of the expected path. Third, cascade system theory and Lyapunov stability are used to respectively prove the uniform semi-global exponential stability of single USV path tracking control system and the global asymptotic stability and uniform local exponential stability of coordinated formation system. At last, simulation and field experiment are conducted to analyze and verify the advancement and effectiveness of the proposed algorithms in this paper.

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Section: Usv Controlmentioning

confidence: 99%

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Liu

Zhang

2020

Sensors

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“…Current research on formation control can be roughly categorized into three main approaches, namely behaviorbased [4], [5], leader-follower [6], [7], [8] and virtual structure approaches [2], [9], [10]. A comprehensive literature review on these three approaches and a comparison on their advantages and weaknesses can be found in [10].…”

Section: Introductionmentioning

confidence: 99%

Formation flight of multiple fixed-wing unmanned aerial vehicles

Zhang

Liu

2013

2013 American Control Conference

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This paper presents a formation control law based on the virtual structure approach which enables multiple fixedwing unmanned aerial vehicles (UAVs) to fly in a circular formation while keeping the whole formation team flying as a rigid entity. The motion of the formation center can be controlled independently as a virtual UAV, so existing control techniques involving a single UAV can be directly applied to a UAV team in formation to take advantages offered by multiple vehicles, such as expanded sensor coverage and increased system redundancy. In this paper, the performance and effectiveness of the proposed formation control algorithm are successfully demonstrated in path following and target tracking tasks through simulation.

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“…There are three popular strategies in designing the formation controller: the behavior-based strategy [6], the virtual structure strategy [7][8], and the leader-follower strategy [9][10][11]. Among these methods, the leaderfollower method is most widely used by many researchers due to advantages such as simplicity and scalability.…”

Section: Introductionmentioning

confidence: 99%

Formation Control for Underactuated Autonomous Underwater Vehicles Using the Approach Angle

Kim¹,

Park

Choi³

2013

International Journal of Fuzzy Logic and Intelligent Systems

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In this paper, we propose a formation control algorithm for underactuated autonomous underwater vehicles (AUVs) with parametric uncertainties using the approach angle. The approach angle is used to solve the underactuated problem for AUVs, and the leader-follower strategy is used for the formation control. The proposed controller considers the nonzero off-diagonal terms of the mass matrix of the AUV model and the associated parametric uncertainties. Using the state transformation, the mass matrix, which has nonzero off-diagonal terms, is transformed into a diagonal matrix to simplify designing the control. To deal with the parametric uncertainties of the AUV model, a self-recurrent wavelet neural network is used. The proposed formation controller is designed based on the dynamic surface control technique. Some simulation results are presented to demonstrate the performance of the proposed control method.

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Cited by 912 publications

References 18 publications

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Formation flight of multiple fixed-wing unmanned aerial vehicles

Formation Control for Underactuated Autonomous Underwater Vehicles Using the Approach Angle

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