Coordinated control of multiple autonomous surface vehicles: Challenges and advances — A systematic review

Ocean Engineering, Год журнала: 2024, Номер 312, С. 119160 - 119160

Опубликована: Сен. 10, 2024

Язык: Английский

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Distributed Optimal Formation Control of Multiple Unmanned Surface Vehicles with Stackelberg Differential Graphical Game

IEEE Transactions on Artificial Intelligence, Год журнала: 2024, Номер 5(8), С. 4058 - 4073

Опубликована: Янв. 23, 2024

In this work, a cooperative formation control methodology is proposed for multiple six-degree-of-freedom (6-DoF) unmanned surface vehicles (USVs) subject to input saturation. Our method includes several key steps. To begin, we formulate the optimal problem USVs as Stackelberg differential graphical games. According design principle, each USV partitioned into primary follower and secondary follower. The followers coalesce one team, while constitute another team independently. Secondly, new type of barrier Lyapunov function (BLF) with hyperbolic tangent introduced indirectly constrain velocity vector. Thirdly, an auxiliary system established compensate Then stability theory employed prove that all closed-loop signals are semi-global uniform ultimate boundedness (SGUUB). Finally, present simulation results our scheme. These demonstrate effectiveness feasibility USVs.

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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Adaptive Fault-Tolerant Fuzzy Containment Control for Networked Autonomous Surface Vehicles: A Noncooperative Game Approach

IEEE Transactions on Fuzzy Systems, Год журнала: 2024, Номер 32(7), С. 4192 - 4204

Опубликована: Июнь 5, 2024

Язык: Английский

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Observer-based adaptive neural consensus control of nonlinear multi-agent systems under input and output quantization

Engineering Applications of Artificial Intelligence, Год журнала: 2024, Номер 138, С. 109279 - 109279

Опубликована: Сен. 16, 2024

Язык: Английский

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