2020
DOI: 10.1155/2020/3423926
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Adaptive Platoon Control for Marine Surface Vehicles in the Presence of Constraints

Abstract: This paper presents the platoon formation control design for unmanned surface vehicles with input and output constraints. First, Barrier Lyapunov Function (BLF) is employed to ensure the desired line-of-sight (LOS) range. The LOS range should be maintained within the predefined regions between each marine vehicle and its predecessor while the connected platoons track the trajectory. Next, to handle the model uncertainties and unknown external disturbance, we propose an adaptive neural network controller that a… Show more

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References 39 publications
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