Neurodynamics-Based Attack-Defense Guidance of Autonomous Surface Vehicles Against Multiple Attackers for Domain Protection

IEEE Transactions on Industrial Electronics, Год журнала: 2024, Номер 71(10), С. 12655 - 12663

Опубликована: Фев. 14, 2024

This article investigates an adversarial domain protection scenario involving multiple defending underactuated autonomous surface vehicles (ASVs) against equal number of attacking ASVs in obstructive environment. The can only obtain the positions susceptible stochastic measurement noises. A three-layer attack-defense guidance structure is proposed such that are able to intercept with collision-free behaviors. In first layer, auction theory utilized achieve matching efficiently assigns corresponding a distributed manner. second adaptive method proposed, enabling each ASV implement appropriate law aligned optimal interception point. last quadratic programming problem formulated using speed-heading-constraint control barrier functions, and neurodynamics optimization approach employed real-time resolution signal. stability safety analyses show system error practically input-to-state stable, guaranteed be safe. Experiment results demonstrate effectiveness neurodynamics-based for protection.

Язык: Английский

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Fully Distributed Target Encircling Control of Autonomous Surface Vehicles Based on Noncooperative Games

IEEE Transactions on Intelligent Vehicles, Год журнала: 2024, Номер 9(4), С. 4769 - 4779

Опубликована: Март 4, 2024

This paper addresses cooperative target encircling of multiple autonomous surface vehicles (ASVs) with private and potentially competitive objectives. A fully distributed control approach is proposed based on noncooperative games. Specifically, a estimator an adaptive gain developed to estimate the information without using global state or topology knowledge. Based low-frequency learning technique, fuzzy predictor presented approximate unknown vehicle kinematics induced by uncertain nonlinearities environmental disturbances. By decoupling into task spacing task, law are designed Nash equilibrium seeking for achieving objective each ASV. The input-to-state stability closed-loop system proven via cascade analysis. Simulation results provided illustrate effectiveness game-based method ASVs in circumnavigation missions.

Язык: Английский

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Parallel Path Following of Under-Actuated Cyber-Physical Autonomous Surface Vehicles Based on Meta-Learning Extended State Observer

IEEE Transactions on Vehicular Technology, Год журнала: 2024, Номер 73(11), С. 16041 - 16050

Опубликована: Июль 18, 2024

Язык: Английский

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Saturation-Tolerant Tunnel Prescribed Control for Vessel-Train Formation of Underactuated MSVs

IEEE Transactions on Vehicular Technology, Год журнала: 2024, Номер 73(12), С. 18380 - 18390

Опубликована: Авг. 28, 2024

Язык: Английский

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Dynamic performance-guaranteed adaptive event-triggered trajectory tracking control for underactuated surface vehicles

Ocean Engineering, Год журнала: 2024, Номер 312, С. 119114 - 119114

Опубликована: Авг. 30, 2024

Язык: Английский

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USV-Tracker: A novel USV tracking system for surface investigation with limited resources

Ocean Engineering, Год журнала: 2024, Номер 312, С. 119196 - 119196

Опубликована: Сен. 14, 2024

Язык: Английский

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Object Manipulation in Marine Environments using Reinforcement Learning

IFAC-PapersOnLine, Год журнала: 2024, Номер 58(20), С. 215 - 222

Опубликована: Янв. 1, 2024

Язык: Английский

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