Fuzzy Adaptive Fault Tolerant Time-Varying Formation Control for Nonholonomic Multirobot Systems With Range Constraints

IEEE Transactions on Intelligent Vehicles, Год журнала: 2023, Номер 8(6), С. 3668 - 3679

Опубликована: Апрель 5, 2023

This article studies the fault tolerant tracking problem of time-varying formation for nonholonomic multirobot systems. Uncertain nonlinear dynamics are approximated by employing fuzzy logic systems (FLSs), and based on adaptive backstepping recursive procedure dynamic surface technology, a control scheme is developed. It notable to achieve collision avoidance connectivity maintenance, so prescribed performance methodology introduced solve constrained range distance angle. Meanwhile, in order compensate effect from infinite number uncertain actuator failures, robots can maintain interacting with their leader at moment faults, also uninterruptedly track referenced trajectory leader, novel decentralized (AFTC) strategy further proposed guarantees all signals semi-global uniformly ultimately bounded (SGUUB). Finally, effectiveness AFTC illustrated perfectly

Язык: Английский

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Fixed-Time Resilient Edge-Triggered Estimation and Control of Surface Vehicles for Cooperative Target Tracking Under Attacks

IEEE Transactions on Intelligent Vehicles, Год журнала: 2022, Номер 8(1), С. 547 - 556

Опубликована: Июнь 17, 2022

This paper is concerned with the cooperative target tracking of under-actuated unmanned surface vehicles (USVs) event-triggered communications subject to denial-of-service (DoS) attacks. The position information can be sensed by a fraction follower USVs only. A fixed-time resilient edge-triggered estimation and control architecture presented for achieving under DoS Specifically, distributed extended state observer (ESO) designed recover velocity prescribed time regardless unreliable communication network Moreover, burden reduced proposed mechanism. In law design, ESO estimating model uncertainties external disturbances in an earth-fixed reference frame. Then, each USV based on ESO. It proven that error signals closed-loop system are convergent origin fixed time. An example provided substantiate effectiveness USVs.

Язык: Английский

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The OpenCDA Open-Source Ecosystem for Cooperative Driving Automation Research

IEEE Transactions on Intelligent Vehicles, Год журнала: 2023, Номер 8(4), С. 2698 - 2711

Опубликована: Фев. 23, 2023

Advances in Single-vehicle intelligence of automated driving has encountered great challenges because limited capabilities perception and interaction with complex trafic environments. Cooperative Driving Automation (CDA) been considered a pivotal solution to next-generation driv-ing smart transportation. Though CDA attracted much attention from both academia industry, exploration its potential is still infancy. In companies tend build their in-house data collection pipeline research tools tailor needs protect intellectual properties. Reinventing the wheels, however, wastes resources limits generalizability developed approaches since no standardized benchmarks exist. On other hand, academia, due absence real-world computation resources, researchers often investigate topics simplified mostly simulated environments, restricting possibility scaling outputs scenarios. Therefore, there an urgent need establish open-source ecosystem (OSE) address demands different communities for research, particularly early exploratory stages, provide bridge ensure integrated development testing that diverse can share. this paper, we introduce OpenCDA ecosystem, unified OSE model zoo, suite simulators at various resolutions, large-scale datasets, complete devel-opment toolkits benchmark training/testing, scenario database/generator. We also demonstrate effectiveness through example use cases, including cooperative 3D LiDAR detection, merge, camera-based map prediction, adversarial generation.

Язык: Английский

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Secure Cooperative Path Following of Autonomous Surface Vehicles Under Cyber and Physical Attacks

IEEE Transactions on Intelligent Vehicles, Год журнала: 2023, Номер 8(6), С. 3680 - 3691

Опубликована: Апрель 25, 2023

This paper is concerned with the networked cooperative path following (CPF) problem for multiple autonomous surface vehicles (ASVs) subject to simultaneous cyber and physical attacks. First, compensate adverse effects of physical-attack-induced bias injections, an extended state observer designed provide real-time estimates unmeasured velocities unknown nonlinear terms. Next, identify handle various attacks, a novel secure data transmission mechanism, featuring transmitter receiver, developed each ASV. Then, CPF control scheme, consisting kinematic law kinetic law, presented. Furthermore, error dynamics are derived account network-induced delays, packet dropouts, The proposed scheme capable preserve satisfactory tracking performance resulting system under desired reference even in presence external environmental disturbances, malicious Finally, several case studies provided substantiate effectiveness scheme.

Язык: Английский

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Event-Based Predefined-Time Second-Order Practical Consensus With Application to Connected Automated Vehicles

IEEE Transactions on Intelligent Vehicles, Год журнала: 2023, Номер 8(11), С. 4524 - 4535

Опубликована: Авг. 21, 2023

In this study, an event-based control strategy is proposed for second-order disturbed multi-agent systems (MASs) to achieve predefined-time practical consensus. comparison the finite/fixed-time control, consensus (PTC) can be achieved in a completely pre-specified time. For consensus, global information of system not required calculate estimate convergence time, including initial states and communication topology. addition, singular problem loop are also avoided. Moreover, developed obtain which effectively reduce operating frequency wear actuator under convergence. Furthermore, input measurement error designed by utilizing hyperbolic tangent function, then non-differential Zeno behavior excluded. Finally, example connected automated vehicles given validate effectiveness our results.

Язык: Английский

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Event-triggered consensus control of heterogeneous multi-agent systems: model- and data-based approaches

Science China Information Sciences, Год журнала: 2023, Номер 66(9)

Опубликована: Авг. 28, 2023

Язык: Английский

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Robust practical prescribed time trajectory tracking of USV with guaranteed performance

Ocean Engineering, Год журнала: 2024, Номер 302, С. 117622 - 117622

Опубликована: Март 27, 2024

Язык: Английский

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Distributed finite-time performance-prescribed time-varying formation control of autonomous surface vehicles with saturated inputs

Ocean Engineering, Год журнала: 2022, Номер 266, С. 112866 - 112866

Опубликована: Ноя. 2, 2022

Язык: Английский

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Distributed MPC-Based Robust Collision Avoidance Formation Navigation of Constrained Multiple USVs

IEEE Transactions on Intelligent Vehicles, Год журнала: 2023, Номер 9(1), С. 1804 - 1816

Опубликована: Сен. 14, 2023

This article is devoted to tackling the robust collision avoidance formation navigation problem for a class of multiple unmanned surface vehicles (multi-USVs), where USVs are modeled as underactuated nonlinear systems subject state and input constraints. Furthermore, unknown external disturbances taken into consideration, they stem from diverse uncertainties associated with environmental loadings encountered in various practical situations. Considering inherent dynamics constraints, new kind distributed model predictive control (MPC) based controllers developed achieve free navigation. Specifically, light unavailability accurate USV caused by disturbances, time-delay observers constructed estimate these disturbances. estimation process facilitates creation reliable model, which turn enables design an effective MPC controller. Subsequently, strategies presented utilized such that inputs can be determined synchronously. It shown effectively lead satisfactory performance distribute At last, numerical experiments conducted validate effectiveness present strategy demonstrate its advantages over existing approaches.

Язык: Английский

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Event-Triggered Based Trajectory Tracking Control of Under-Actuated Unmanned Surface Vehicle With State and Input Quantization

IEEE Transactions on Intelligent Vehicles, Год журнала: 2023, Номер 9(2), С. 3127 - 3139

Опубликована: Дек. 6, 2023

This paper is dedicated to the trajectory tracking control of under-actuated unmanned surface vessel (USV) with state and input quantization. In terms kinematics, a distributed guidance law introduced track time-varying USV. kinetics, fuzzy adaptive quantization method rooted in an event-triggered mechanism proposed. Uncertainties within ship model are estimated through logic system, linear analytical employed elucidate process. approach reduces actuator's execution frequency, alleviates communication burden conserves valuable resources. The boundedness internal signals errors closed-loop system substantiated by presenting some theoretical lemmas. Furthermore, stability proposed strategy proved Lyapunov theory. Finally, effectiveness feasibility based on verified simulation experiments.

Язык: Английский

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