Formation control for underactuated unmanned surface vehicles based on consistency theory and leader-follower mode

The formation involving multiple unmanned surface vehicles (USVs) is a new hotspot in research on USVs. Considering the formation control problem of underactuated USVs, a distributed formation control algorithm is proposed based on consistency theory and leader-follower mode. The motion processes of the reference USV with respect to each USV are obtained with a consistency algorithm. By adjusting the control input, each USV converges to the reference vehicle. Thus, the expected formation of all USVs can be guaranteed if the trajectories of these two types of USVs coincide. The entire formation uses distributed control, which has certain tolerance to special situations, such as communication delay and communication interruption. The effectiveness of the control strategy is verified through simulations.

• Record URL:
  https://doi.org/10.1504/IJVD.2020.115849
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/14775360
• Supplemental Notes:
  • Copyright © 2020 Inderscience Enterprises Ltd.
• Authors:
  • Jiang, Limei
  • Zhang, Rubo
  • Wen, Naifeng
  • Liu, Guanqun
  • Wu, Junwei
  • Qu, Xingru
  • Liang, Xiao
• Publication Date: 2020

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 59-76
• Serial:
  • International Journal of Vehicle Design
  • Volume: 84
  • Issue Number: 1-4
  • Publisher: Inderscience Enterprises Limited
  • ISSN: 1477-5360
  • Serial URL: http://www.inderscience.com/jhome.php?jcode=IJVD

Subject/Index Terms

• TRT Terms: Autonomous vehicles; Control; Ships; Trajectory control
• Subject Areas: Marine Transportation; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 01782243
• Record Type: Publication
• Files: TRIS
• Created Date: Sep 22 2021 11:54AM