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Line-of-Sight Target Enclosing of an Underactuated Autonomous Surface Vehicle with Experiment Results
Jiang,Yue1,2; Peng,Zhouhua1,2; Wang,Dan1,2; Chen,C. L.Philip3
Source PublicationIEEE Transactions on Industrial Informatics

This paper presents a design method for target enclosing of an underactuated autonomous surface vehicle to surround a maneuvering target with time-varying velocity, and both the target and the follower suffer from unknown ocean currents. Specifically, a target-enclosing controller is developed based on a line-of-sight (LOS) guidance and an ocean current estimator, where only the yaw rate is used to stabilize the circular motion around the target. Then, the proposed strategy is extended to the case where the target velocity is unavailable and the ocean currents time-varying. By using the relative range and angle information, an extended state observer is developed to estimate unknown relative velocities together with the ocean currents in real-time. Based on the estimated relative dynamics, a LOS, target-enclosing controller is developed without any velocity information of the target. The stability of the closed-loop system is analyzed via the Lyapunov theory. Both simulations and experiments are conducted to show the performance of the proposed LOS, target-enclosing controller for surrounding a maneuvering target.

KeywordAutonomous Surface Vehicle (Asv) Line-of-sight (Los) Guidance Target Enclosing Time-varying Ocean Currents Unknown Target Velocity
URLView the original
Indexed BySCIE
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering
WOS SubjectAutomation & Control Systems ; Computer Science, Interdisciplinary Applications ; Engineering, Industrial
WOS IDWOS:000521337000010
Scopus ID2-s2.0-85074249713
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Cited Times [WOS]:31   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorPeng,Zhouhua
Affiliation1.Dalian Maritime Univ, Sch Marine Elect Engn, Dalian 116026, Peoples R China
2.Dalian Maritime Univ, Collaborat Innovat Res Inst Autonomous Ship, Dalian 116026, Peoples R China
3.Univ Macau, Fac Sci & Technol, Macau 999078, Peoples R China
Recommended Citation
GB/T 7714
Jiang,Yue,Peng,Zhouhua,Wang,Dan,et al. Line-of-Sight Target Enclosing of an Underactuated Autonomous Surface Vehicle with Experiment Results[J]. IEEE Transactions on Industrial Informatics,2020,16(2):832-841.
APA Jiang,Yue,Peng,Zhouhua,Wang,Dan,&Chen,C. L.Philip.(2020).Line-of-Sight Target Enclosing of an Underactuated Autonomous Surface Vehicle with Experiment Results.IEEE Transactions on Industrial Informatics,16(2),832-841.
MLA Jiang,Yue,et al."Line-of-Sight Target Enclosing of an Underactuated Autonomous Surface Vehicle with Experiment Results".IEEE Transactions on Industrial Informatics 16.2(2020):832-841.
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