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

---

A Novel, Finite-Time, Active Fault-Tolerant Control Framework for Autonomous Surface Vehicle with Guaranteed Performance

Journal of Marine Science and Engineering, Год журнала: 2024, Номер 12(2), С. 347 - 347

Опубликована: Фев. 17, 2024

In this paper, a finite-time, active fault-tolerant control (AFTC) scheme is proposed for class of autonomous surface vehicles (ASVs) with component faults. The designed AFTC framework based on an integrated design fault detection (FD), estimation (FE), and controller reconfiguration. First, nominal the Barrier Lyapunov function presented, which guarantees that tracking error converges to predefined performance constraints within settling time. Then, performance-based monitoring low complexity supervise behaviors detect fault. Different from existing results where bounded by known scalar, FE in study implemented finite-time estimator without requiring any prioir information Furthermore, under scheme, both transient steady-state ASV can be guaranteed regardless occurrence Finally, simulation example CyberShip II given confirm effectiveness method.

Язык: Английский

---

Exponential smoothing-based fixed-time path-guided coordinated control of unmanned surface vehicles under communication interruption

Ocean Engineering, Год журнала: 2024, Номер 298, С. 117119 - 117119

Опубликована: Фев. 23, 2024

Язык: Английский

---

Observer-based $$H_\infty $$ control for switched cyber-physical systems over amplify-and-forward relay networks subject to double fading channels

Nonlinear Dynamics, Год журнала: 2025, Номер unknown

Опубликована: Янв. 29, 2025

Язык: Английский

---

Periodic event-triggered adaptive neural output feedback tracking control of unmanned surface vehicles under replay attacks

Engineering Applications of Artificial Intelligence, Год журнала: 2025, Номер 146, С. 110237 - 110237

Опубликована: Фев. 17, 2025

Язык: Английский

---

Parallel Path-Following Control of Fully-Actuated Autonomous Surface Vehicles Based on a High-Order Learning Extended State Observer

Lecture notes in electrical engineering, Год журнала: 2025, Номер unknown, С. 139 - 147

Опубликована: Янв. 1, 2025

Язык: Английский

---

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

---

Adaptive fault-tolerant trajectory tracking control of twin-propeller non-rudder unmanned surface vehicles

Ocean Engineering, Год журнала: 2023, Номер 285, С. 115294 - 115294

Опубликована: Июль 13, 2023

Язык: Английский

---

Safety-Critical Parallel Trajectory Tracking Control of Maritime Autonomous Surface Ships Based on Integral Control Barrier Functions

IEEE Transactions on Intelligent Vehicles, Год журнала: 2024, Номер 9(5), С. 4979 - 4988

Опубликована: Фев. 2, 2024

This article investigates the parallel trajectory tracking control of fully-actuated maritime autonomous surface ships (MASSs) in presence multiple stationary/moving ocean obstacles. A safety-critical architecture is proposed for MASSs. Specifically, an artificial MASS system constructed based on a data-driven learning predictor where real-time and historical navigation data are both utilized to achieve estimation unknown weights Taylor polynomials Fourier series. Then, law designed such that capable track reference positively. Finally, integral barrier functions employed encode input safety constraints. optimization signal augmented collision avoidance all Based stability analyses, errors actual verified be uniformly ultimately bounded safe. Numerical examples confirm effectiveness scheme MASS.

Язык: Английский

---

Data-Based Guaranteed Trajectory Estimation for Unmanned Surface Vehicles

IEEE Transactions on Industrial Informatics, Год журнала: 2024, Номер 20(7), С. 9793 - 9802

Опубликована: Апрель 25, 2024

This article concerns the guaranteed trajectory estimation problem for unmanned surface vehicles (USVs) via set-membership technique. Taking both rigid-body and hydrostatics kinetics into consideration, nonlinear dynamic model of USV system is derived, where parameters are all unknown. Considering external disturbance nonlinearities, an offline data-based algorithm unknown proposed to obtain set representation parameters, which contain actual USV. Then, based on obtained parameter sets, online constructed provide sets enclosing points USV, consists a time-update step measurement-update step. To tackle transformation zonotopes, interval arithmetic Taylor utilized rigorous bounds function. Finally, simulation results provided demonstrate effectiveness method USVs.

Язык: Английский

---