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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Adaptive neural network course tracking control of USV with input quantisation and output constraints

International Journal of Systems Science, Год журнала: 2025, Номер unknown, С. 1 - 15

Опубликована: Фев. 18, 2025

Язык: Английский

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Finite-time adaptive sliding mode trajectory tracking control of ship with input saturation

Ocean Engineering, Год журнала: 2024, Номер 313, С. 119556 - 119556

Опубликована: Ноя. 1, 2024

Язык: Английский

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Reinforcement Learning‐Based Prescribed Performance Formation Control for USVs With Collision Avoidance and Preserved Connectivity

International Journal of Robust and Nonlinear Control, Год журнала: 2025, Номер unknown

Опубликована: Янв. 14, 2025

ABSTRACT This paper proposes the reinforcement learning‐based prescribed performance optimal formation control approach for a fleet of unmanned surface vehicles (USVs) with collision avoidance and preserved connectivity. Firstly, to improve errors while ensuring preserving connectivity between two successive USVs, monotone tube boundary functions are designed. Compared traditional exponential form control, error can converge accurately vicinity origin within predefined time, overshoot is constrained. Secondly, in order derive realistic solutions, an actor‐critic learning algorithm implemented unknown parameters approximated using identifier neural networks, which simplifies Hamilton‐Jacobi‐Bellman equation obtain solutions. Meanwhile, simplify computational complexity, simple positive function designed, gradient descent method applied it such that simplified critic actor weight updating laws acquired. Finally, framework backstepping method, adaptive strategy ensures USVs follow given reference trajectory maintain required line‐of‐sight (LOS) range consecutive USVs. The feasibility effectiveness proposed well illustrated by simulation results.

Язык: Английский

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Event triggered prescribed time trajectory tracking control for unmanned surface vessels with lumped disturbances and prescribed performance constraints

Scientific Reports, Год журнала: 2025, Номер 15(1)

Опубликована: Март 9, 2025

This article proposes a prescribed-time trajectory tracking control algorithm for unmanned surface vessels with lumped disturbances, limited communication, and error constraints, utilizing an event-triggered mechanism. Firstly, we present disturbances observer to accurately estimate the including external ocean model uncertainties, unmodeled dynamics. Then, prescribed performance function is implemented achieve guaranteed steady-state within predefined time. In addition, strategy embedded into presented scheme lessen frequency of controller signal updates conserve communication resources. A thorough stability analysis demonstrates that proposed stable, Zeno behavior can be prevented. Finally, efficacy superiority designed are confirmed numerical simulations.

Язык: Английский

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Prescribed-time trajectory tracking control for underactuated USV with input amplitude and rate constraints

Ocean Engineering, Год журнала: 2025, Номер 326, С. 120891 - 120891

Опубликована: Март 13, 2025

Язык: Английский

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Intelligent decision and planning for unmanned surface vehicle: A review of machine learning techniques

Ocean Engineering, Год журнала: 2025, Номер 327, С. 120968 - 120968

Опубликована: Март 20, 2025

Язык: Английский

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Trajectory tracking control for unmanned amphibious surface vehicles with actuator faults

Applied Ocean Research, Год журнала: 2024, Номер 152, С. 104182 - 104182

Опубликована: Авг. 20, 2024

Язык: Английский

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Extended state observer based prescribed-time trajectory tracking control for USV with prescribed performance constraints and input saturation

Ocean Engineering, Год журнала: 2024, Номер 316, С. 120005 - 120005

Опубликована: Дек. 6, 2024

Язык: Английский

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Time‐Varying Sliding Mode Based Fixed‐Time Missile Guidance and Attitude Control With Impact Angle Constraints

International Journal of Robust and Nonlinear Control, Год журнала: 2024, Номер unknown

Опубликована: Ноя. 7, 2024

ABSTRACT Considering an unpowered missile diving to intercept a maneuvering target, novel fixed‐time guidance and attitude control algorithm is proposed. First, the second‐order derivatives of aerodynamic angles are directly linked fin deflections, which can avoid tracking body angle rate instruction in traditional methods. Second, time‐varying parameter nonsingular terminal sliding mode law proposed, input singularity without switching polynomial form when error approaches origin. Third, new global with predefined convergence time analytical solution developed design controller. The system states proved be based on Lyapunov stability theory. Six‐degree‐of‐freedom simulations conducted validate superiority proposed terms miss distance, impact error, interception energy.

Язык: Английский

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