Distributed formation control with obstacle avoidance for multiple underactuated unmanned surface vehicles

DOI10.1016/J.JFRANKLIN.2024.107008MaRDI QIDQ6579233zbMATHFDO

Authors Xiangyu Tang, Jianglong Yu, Xiaoduo Li, Xiwang Dong, Zhang Ren

Publication date 25 July 2024

Published in Journal of the Franklin Institute (Search for Journal in Brave)

zbMATH Keywords

obstacle avoidancedistributed formation controltransverse functionunderactuated unmanned surface vehicle

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cites work

• scientific article; zbMATH DE number 3839814 (Why is no real title available?)
• A survey of multi-agent formation control
• Controllability of general linear discrete multi-agent systems with directed and weighted signed network
• Cooperative Control of Dynamical Systems
• Distributed MPC for formation of multi-agent systems with collision avoidance and obstacle avoidance
• Distributed consensus tracking control of nonlinear multi-agent systems with dynamic output constraints and input saturation
• Flocking and rendezvous in distributed robotics
• Formation Potential Field for Trajectory Tracking Control of Multi-Agents in Constrained Space
• Formation control with collision avoidance for underactuated surface vehicles
• Global Phase and Magnitude Synchronization of Coupled Oscillators With Application to the Control of Grid-Forming Power Inverters
• Leader-follower formation control of nonholonomic mobile robots with input constraints
• Lyapunov stability theory of nonsmooth systems
• Practical stabilization of driftless systems on lie groups: The transverse function approach
• Practical time-varying output formation tracking for high-order multi-agent systems with collision avoidance, obstacle dodging and connectivity maintenance

Cited in

(6)

• Coordinated control of multiple surface unmanned vehicle clusters under the influence of wind field and tides
• Collision avoidance control for limited perception unmanned surface vehicle swarm based on proximal policy optimization
• Formation control with collision avoidance for underactuated surface vehicles
• Formation control and collision avoidance of unmanned water surface vehicles in maritime environments
• An Improved APFM for Autonomous Navigation and Obstacle Avoidance of USVs
• Finite-time fuzzy adaptive formation tracking control for USVs with multiple constraints and unknown dead zones

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