Formation path following control of underactuated USVs

Eek, Åsmund; Pettersen, Kristin Y.; Ruud, Else-Line Malene; Krogstad, Thomas R.

doi:10.1016/j.ejcon.2021.06.027

Cited by 17 publications

(5 citation statements)

References 11 publications

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“…Proof. The terms −𝜆 i1 sgn( ηi ), −𝜆 i2 sgn( ηi ), and −𝜆 i3 sgn( ηi ) in (10) are ignored; the estimation error system can be expressed as…”

Section: Finite-time Extended State Observer Designmentioning

confidence: 99%

“…In Xiang et al [9], CPF controllers were designed for autonomous underwater vehicles (AUVs) to drive along prior-planned parallel paths in a three-dimensional space. In Eek et al [10], a formation control method for underactuated unmanned surface vessels to follow a curved path was proposed. Alneida et al [11] studied the CPF control problem under discrete-time periodic communication, and a distributed cooperative update law was proposed.…”

Section: Introductionmentioning

confidence: 99%

“…The main contributions of this paper are summarized as follows: The FTESO is embedded into the guidance law of the underactuated MSV's CPF control scheme for the first time. The proposed FTESO‐LOS guidance law can not only estimate the unmeasured velocities and compound disturbances simultaneously in finite time but also calculate the desired velocities and the desired yaw rate. Different from the existing CPF control methods in previous studies [7–10], a decentralized cooperative control law based on graph theory is proposed in this paper, which can achieve the synchronization of multiple paths of underactuated MSVs formation in finite time and effectively reduce the communication load. Compared with the fixed threshold ETC mechanism in previous works [14, 18–20], the relative threshold ETC mechanism is incorporated into the proposed CPF controller, which not only effectively reduces the update frequency of the controller and the mechanical loss of the actuator but also improves the control performance of the system. …”

Section: Introductionmentioning

confidence: 99%

“…Different from the existing CPF control methods in previous studies [7–10], a decentralized cooperative control law based on graph theory is proposed in this paper, which can achieve the synchronization of multiple paths of underactuated MSVs formation in finite time and effectively reduce the communication load.…”

Section: Introductionmentioning

confidence: 99%

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Event‐triggered‐based finite‐time cooperative path following control for underactuated multiple marine surface vehicles

Wang

2022

Asian Journal of Control

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This paper develops an event‐triggered‐based finite‐time cooperative path following (CPF) control scheme for underactuated marine surface vehicles (MSVs) with model parameter uncertainties and unknown ocean disturbances. First, a finite‐time extended state observer (FTESO) is proposed, in which the FTESO can estimate the velocities and compound disturbances in finite time. Then, the finite‐time LOS guidance law based on velocity estimation values is designed to obtain the desired surge velocity and the desired yaw rate. In order to realize the cooperative control of multiple paths in finite time, the cooperative control law for the path variable is designed. In addition, the relative threshold event‐triggered control (ETC) mechanism is incorporated into the formation control algorithm, and an event‐triggered‐based finite‐time CPF controller is designed, which not only effectively reduces the update frequency of controller and the mechanical loss of actuator but also improves the control performance of system. Furthermore, by using homogeneous method, Lyapunov theory, and finite‐time stability theory, it is proved that under the proposed finite‐time CPF control scheme, the formation errors can converge to a small neighborhood around origin in finite time. Finally, numerical simulation results illustrate the effectiveness of the proposed control scheme.

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“…Proof. The terms −𝜆 i1 sgn( ηi ), −𝜆 i2 sgn( ηi ), and −𝜆 i3 sgn( ηi ) in (10) are ignored; the estimation error system can be expressed as…”

Section: Finite-time Extended State Observer Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Event‐triggered‐based finite‐time cooperative path following control for underactuated multiple marine surface vehicles

Wang

2022

Asian Journal of Control

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“…With the surge in research on marine environments, investigations of marine surface vessels have aroused great concern in the control community [1][2][3][4]. Trajectory tracking control of underactuated unmanned surface vessels (USVs) is both an important and challenging problem [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Practical Finite-Time Event-Triggered Trajectory Tracking Control for Underactuated Surface Vessels With Error Constraints

Liu

Tian

2022

IEEE Access

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This paper proposes a robust trajectory tracking control method for underactuated unmanned surface vessels (USVs) with input saturation based on a relative threshold event-triggered mechanism (ETM), prescribed performance and finite-time convergence. First, to address the challenges posed to controller design by the nondiagonal inertia matrix, coordinate transformation technology is adapted to change the vessel position. An asymmetric smooth saturation function is employed to address the input saturation problem. Second, an adaptive neural network (NN) is developed to approximate the uncertain nonlinear dynamics and external environmental disturbances. Third, the performance function constraints are integrated into the tan-type barrier Lyapunov function (BLF) to greatly enhance the robustness of the system by combining with the finite-time convergence property. In addition, the dynamic surface control (DSC) technique is employed to address the differential explosion problem. Subsequently, a relative threshold ETM is incorporated into the controller to reduce the communication burden. The rationality and feasibility of the proposed algorithm are confirmed by theoretical analysis and numerical simulations.INDEX TERMS Finite-time control, barrier Lyapunov function, event-triggered, neural networks, underactuated surface vessel.

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Non-singular cooperative guiding vector field under a homotopy equivalence transformation

Chen,

Zuo

2025

Automatica

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Formation path following control of underactuated USVs

Cited by 17 publications

References 11 publications

Event‐triggered‐based finite‐time cooperative path following control for underactuated multiple marine surface vehicles

Event‐triggered‐based finite‐time cooperative path following control for underactuated multiple marine surface vehicles

Practical Finite-Time Event-Triggered Trajectory Tracking Control for Underactuated Surface Vessels With Error Constraints

Non-singular cooperative guiding vector field under a homotopy equivalence transformation

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