Adaptive neural containment maneuvering of underactuated surface vehicles with prescribed performance and collision avoidance

Ocean Engineering, Год журнала: 2024, Номер 297, С. 116779 - 116779

Опубликована: Фев. 19, 2024

Язык: Английский

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Guidance Method with Collision Avoidance Using Guiding Vector Field for Multiple Unmanned Surface Vehicles

Drones, Год журнала: 2025, Номер 9(2), С. 105 - 105

Опубликована: Янв. 31, 2025

For the guidance problem of trajectory tracking in multiple unmanned surface vehicles (USVs), a method with collision avoidance based on novel guiding vector field is proposed. Firstly, within framework virtual leader–follower for formation control, error model followers developed motion USVs. Secondly, considering limitations conventional methods addressing various initial conditions, design heading law to enhance performance. Then, multi-USV strategy proposed navigation safety. The trigger actions and release conditions are established this strategy. USVs could avoid time by following commands outlined strategy, especially complex situations where simultaneously at risk colliding each other. And theoretical proof completed. Furthermore, velocity laws designed combining It demonstrated that errors system uniformly bounded Lyapunov stability theory. Finally, effectiveness verified through simulation.

Язык: Английский

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Predefined-Time Bipartite Time-Varying Formation Tracking Control of Networked Autonomous Surface Vehicles via Hierarchical Control Approach

IEEE Transactions on Vehicular Technology, Год журнала: 2024, Номер 73(7), С. 9536 - 9545

Опубликована: Фев. 9, 2024

As increasingly prevalent technologies in autonomous driving, surface vehicles (ASVs) have been widely applied to accomplish different practical tasks. However, there exist a few researches that considered both the case of cooperative and antagonistic relationships between vehicles. Therefore, we aim develop an effective approach tackle predefined-time bipartite time-varying formation tracking (BTVFT) problem networked ASVs subject external disturbances this article. Firstly, hierarchical control (PTHC) algorithm is proposed address aforesaid issue. More specifically, by utilizing directed signed graph, are divided into two subgroups form their own configurations on sides dynamic leader keep same distances from leader. notably, convergence time can be designed advance according actual demands. Then, corresponding sufficient conditions for achieving BTVFT obtained systematic analysis Lyapunov stability analysis. Eventually, numerical simulation experiments Cyber-Ships II carried out, which vividly reflect effectiveness feasibility developed algorithm.

Язык: Английский

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Robust Distributed Cooperative Rendezvous Control for Heterogeneous Marine Vehicles Using Model Predictive Control

IEEE Transactions on Vehicular Technology, Год журнала: 2024, Номер 73(8), С. 11002 - 11013

Опубликована: Март 12, 2024

This paper investigates the cooperative rendezvous problem for intelligent surface-underwater heterogeneous marine systems and proposes a robust distributed model predictive control scheme. The input limitations, inter-vehicle safety constraint, external disturbances are considered simultaneously. Each vehicle can transmit receive state information through communication network implement protocol in parallel way. To suppress deviation caused by disturbances, nonlinear tube-based (MPC) is designed, which integrates nominal optimal action anti-disturbance feedback into compound form. By constructing auxiliary constraints, collision-free be achieved under disturbances. Comprehensive theoretical analyses, including closed-loop stability recursive feasibility, provided. Simulation comparisons conducted to verify proposed method.

Язык: Английский

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Safety-Critical Trajectory Tracking for Mobile Robots with Guaranteed Performance

IEEE/CAA Journal of Automatica Sinica, Год журнала: 2024, Номер 11(9), С. 2033 - 2035

Опубликована: Июнь 6, 2024

Dear Editor, This letter considers a collision-free trajectory tracking problem for performance-guaranteed mobile robots (MRs) subject to obstacles. We propose safety-critical method based on control barrier functions (CBFs). First, an auxiliary system is established generate the non-negative signals inflexible bounds such that performance constraints are not violated when avoiding Next, desired guidance laws devised evolve errors within space by error transformation technique. Then, position-heading CBF heading principle developed. Under framework, angle speed law solved quadratic program with respect constraints. It proved all can converge and prescribed space, closed-loop ensured be safe. Finally, simulation experiment results given verify effectiveness feasibility of proposed scheme.

Язык: Английский

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Prescribed-time adaptive state observer approach for distributed output-feedback formation tracking of networked uncertain underactuated surface vehicles

Nonlinear Dynamics, Год журнала: 2024, Номер 113(1), С. 681 - 696

Опубликована: Июль 19, 2024

Язык: Английский

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Formation tracking control for networked heterogeneous MSV systems with actuator faults: A distributed optimal event-triggered fixed-time sliding mode fault-tolerant control approach

Ocean Engineering, Год журнала: 2024, Номер 313, С. 119370 - 119370

Опубликована: Сен. 30, 2024

Язык: Английский

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Predictor-based neural adaptive self-triggered quantitative prescribed performance formation control for underactuated unmanned surface vehicles

Ocean Engineering, Год журнала: 2025, Номер 319, С. 120220 - 120220

Опубликована: Янв. 1, 2025

Язык: Английский

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Distributed neural predictor enhanced coordinated control of auvs

Neurocomputing, Год журнала: 2025, Номер unknown, С. 129971 - 129971

Опубликована: Март 1, 2025

Язык: Английский

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Distributed fixed-time formation control for UAV-USV multiagent systems based on the FEWNN with prescribed performance

Ocean Engineering, Год журнала: 2025, Номер 328, С. 120996 - 120996

Опубликована: Март 26, 2025

Язык: Английский

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