Finite-time time-varying formation control for marine surface vessels

Zhu, Cheng; Huang, Bing; Su, Yumin; Zhou, Bin; Zhang, Enhua

doi:10.1016/j.oceaneng.2021.109817

Cited by 24 publications

(14 citation statements)

References 42 publications

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“…Interested readers could refer to our previous works. 12,43 Time responses of the DETO and USV formation trajectories are shown in Figure 4. In observing of these results, we can observe that both affine localization and target formation tracking are achieved by the proposed DETO and ALTC.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…For the sake of brevity, the control algorithm of leaders and information of the leader group is omitted in this article. Interested readers could refer to our previous works 12,43 …”

Section: Simulation Resultsmentioning

confidence: 99%

“…For details of leaders' control methods, one can refer to our previous works. 12,43 The two-layer affine formation control issue for multiple USV systems will be carried out in further studies.…”

Section: Problem Formulationmentioning

confidence: 99%

“…However, due to the constraints of article length and necessity of this part, only the formation maneuver control scheme is presented in this work. For details of leaders' control methods, one can refer to our previous works 12,43 . The two‐layer affine formation control issue for multiple USV systems will be carried out in further studies.…”

Section: Problem Formulationmentioning

confidence: 99%

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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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Section: Simulation Resultsmentioning

confidence: 99%

“…For the sake of brevity, the control algorithm of leaders and information of the leader group is omitted in this article. Interested readers could refer to our previous works 12,43 …”

Section: Simulation Resultsmentioning

confidence: 99%

Section: Problem Formulationmentioning

confidence: 99%

Section: Problem Formulationmentioning

confidence: 99%

See 2 more Smart Citations

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

Self Cite

View full text Add to dashboard Cite

show abstract

“…Recently, the finite-time control has received much attention (Ding and Li, 2009;Li and Tian, 2003;Mobayen and Javadi, 2017;Polyakov et al, 2016;Wei and Zhang, 2009;Zhang et al, 2019), and some new results have been presented, such as finite-time stability (Ding and Li, 2009;Li et al, 2011;Liu et al, 2017;Polyakov et al, 2015;Wang et al, 2020;Zhang and Wei, 2021), input-to-state finite-time stability (Hong et al, 2008) and so on (Hu et al, 2021;Nie et al, 2021;Xi and Liu, 2021;Zhu et al, 2021). In Liu et al (2009), a finite-time control technique is proposed for permanent magnet synchronous motor position servo system by using backstepping method, where the external and internal disturbances are modelled as an equivalent disturbance.…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer–based finite-time control for a class of systems with multiple heterogeneous disturbances

Zhang

Wei

Zhao

et al. 2022

Transactions of the Institute of Measurement and Control

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The finite-time anti-disturbance control problem is studied for systems with multiple heterogeneous disturbances, which include the disturbance with partially known information and the external disturbance. A disturbance observer is designed to online estimate the disturbance with partially known information. Based on this, a disturbance observer–based finite-time control (DOBFTC) scheme is presented by combining disturbance observer–based control (DOBC) with finite-time control method to guarantee that the composite system is globally finite-time stable. Two simulation examples including a numerical example and a doubly fed induction generators (DFIG) system are given to show the effectiveness of the proposed method compared with the existing schemes.

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Two‐layer leader‐follower optimal affine formation maneuver control for networked unmanned surface vessels with input saturations

Zhou,

Huang,

et al. 2023

Intl J Robust & Nonlinear

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This article studies the two‐layer leader‐follower optimal affine formation maneuver (AFM) control problem for multiple unmanned surface vessels (USV). The basic idea of the developed two‐layer control framework is to realize the time‐varying formation for the leader group in advance, and then let the follower USVs agilely respond to the target formation affinely localized by leaders. To realize this goal, a time‐varying formation reference system is first synthesized to describe leaders' target formation in the affine map of the nominal configuration. The reference system is set up by virtual vessel velocity command and unrotated geometric command, which make it possesses an intuitive application structure for operators to plan AFM commands in real‐time sensed surrounding environments. Then, by means of optimized backstepping design and the adaptive dynamic programming technique, actor‐only reinforcement learning controllers are established for USVs in both two layers to realize the optimal target formation tracking objective. For the proposed optimal controllers, the persistent excitation condition that is required by common optimal control schemes is also removed, which endows the presented scheme with lower computational complexity. Finally, theoretical analysis and simulation results illustrate the closed‐loop stability and the effectiveness of the presented scheme.

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Finite-time time-varying formation control for marine surface vessels

Cited by 24 publications

References 42 publications

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

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

Disturbance observer–based finite-time control for a class of systems with multiple heterogeneous disturbances

Two‐layer leader‐follower optimal affine formation maneuver control for networked unmanned surface vessels with input saturations

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