Journal Article10.1109/TCST.2011.2181513
Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics
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TL;DR: A robust adaptive formation controller is developed by employing neural network and dynamic surface control technique and is able to capture the vehicle dynamics without exact information of coriolis and centripetal force, hydrodynamic damping and disturbances from the environment.
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Abstract: In this brief, we consider the formation control problem of underactuated autonomous surface vehicles (ASVs) moving in a leader-follower formation, in the presence of uncertainties and ocean disturbances. A robust adaptive formation controller is developed by employing neural network and dynamic surface control technique. The stability of the design is proven via Lyapunov analysis where semiglobal uniform ultimate boundedness of the closed-loop signals is guaranteed. The advantages of the proposed formation controller are that: first, the proposed method only uses the measurements of line-of-sight range and angle by local sensors, no other information about the leader is required for control implementation; second, the developed neural formation controller is able to capture the vehicle dynamics without exact information of coriolis and centripetal force, hydrodynamic damping and disturbances from the environment. Comparative analysis with a model-based approach is given to demonstrate the effectiveness of the proposed method.
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Citations
Fault‐tolerant containment control of uncertain nonlinear systems in strict‐feedback form
TL;DR: In this article, a fault-tolerant containment control scheme was developed to guarantee that the outputs of all followers converge to the convex hull spanned by multiple dynamic leaders with bounded containment errors.
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An Efficient Model Predictive Control for Trajectory Tracking of Wheeled Inverted Pendulum Vehicles with Various Physical Constraints
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TL;DR: This study presents a robust model predictive control strategy to handle the trajectory tracking problem for a underactuated two-wheeled inverted pendulum (WIP) vehicle, in addition to taking various physical constraints into account.
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Neural-Network-Based Switching Formation Tracking Control of Multiagents With Uncertainties in Constrained Space
TL;DR: A local path replanning approach is designed such that the potential force generated by avoidless disturbance is acted on the original desired trajectory outputting the locally replanned path for an agent.
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Event-Triggered Cooperative Formation Control for Autonomous Surface Vehicles Under the Maritime Search Operation
TL;DR: In this article , a novel parallel search guidance, considering the maneuvering characteristics of ASVs, is developed to guide the formation to execute the automatic SAR operation, which can guarantee that the corresponding guidance law is highly efficient, self-driving and suitable for the large-scale formation.
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Adaptive neural dynamic surface control of MIMO uncertain nonlinear systems with time-varying full state constraints and disturbances
TL;DR: A new compensator is proposed, which combines approximation error based adaptive radial basis function neural networks and nonlinear disturbance observer to improve the compensate performance of unmodeled dynamics and external disturbances.
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