Formation path following control of underactuated USVs

DOI10.1016/J.EJCON.2021.06.027MaRDI QIDQ2068595zbMATH OpenOpenAlexFDO

Authors Åsmund Eek, Else-Line M. Ruud, Thomas R. Krogstad, K. Pettersen

Publication date 19 January 2022

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2011.05021

zbMATH Keywords

formation controlline-of-sightmarine vehiclesnull-space-based behavioral controlpath followingunderactuated systems

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Abstract: This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the null-spacebased behavioral control (NSB) framework, we achieve curved path following of the barycenter, while maintaining the desired vessel formation. The closed-loop dynamics are investigated using cascaded systems theory, and it is shown that the closed-loop system is USGES and UGAS, while the underactuated sway dynamics remains bounded. Both simulation and experimental results are presented to verify the theoretical results.

Recommendations

• Path-following algorithms and experiments for an unmanned surface vehicle
• Dynamic surface and active disturbance rejection control for path following of an underactuated UUV
• Observer based path following for underactuated marine vessels in the presence of Ocean currents: a global approach
• Adaptive output-feedback formation control for underactuated surface vessels
• Fixed-time leader-follower formation control of underactuated unmanned surface vehicles with unknown dynamics and ocean disturbances

Cites work

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Cited in

(10)

• Dynamic surface and active disturbance rejection control for path following of an underactuated UUV
• Observer based path following for underactuated marine vessels in the presence of Ocean currents: a global approach
• Composite finite-time straight-line path-following control of an underactuated surface vessel
• Fixed-time leader-follower formation control of underactuated unmanned surface vehicles with unknown dynamics and ocean disturbances
• Path-following algorithms and experiments for an unmanned surface vehicle
• Adaptive output-feedback formation control for underactuated surface vessels
• Event-triggered-based finite-time cooperative path following control for underactuated multiple marine surface vehicles
• Nearly optimal fixed time sliding mode controller for leader-follower consensus problem with partially unknown nonlinear agents
• Non-singular cooperative guiding vector field under a homotopy equivalence transformation
• Actuator fault-tolerant mixed passivity and H_ control for autonomous marine surface vehicles: a sampled-data approach

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