UM
Residential Collegefalse
Status即將出版Forthcoming
Automatic leader-follower persistent formation control for autonomous surface vehicles
Chen, C. L.Philip1,2,3; Yu, Dengxiu1,4; Liu, Lu2
2019
Source PublicationIEEE Access
Volume7Pages:12146-12155
Abstract

This paper presents a novel leader-follower formation control for autonomous surface vehicles (ASVs). The dynamic model of ASV and the traditional methods of trajectory tracking are analyzed. Previous research about ASVs' formation focuses on the way of realizing trajectory tracking under conditions, such as time-delays, finite-time, and non-holonomic system. However, principles of constructing a suitable ASVs formation are often neglected. We present a novel leader-follower relation-invariable persistent formation (RIPF) control for ASVs, from which a persistent formation can be generated in any position. Obtained by using RIPF control potential function, the outputs of RIPF control are data points, which should be smoothened using broad learning system (BLS). The global leader navigates the mission trajectory, and each follower follows the RIPF trajectory to satisfy the RIPF potential function. The neural network-based adaptive dynamic surface control is introduced to solve the mission trajectory tracking problems. Environmental disturbances exist in ASV model, and BLS also can be used to approximate the disturbances. The simulation results show that the proposed generative method and control law are effective to realize the desired formation.

KeywordAutonomous Surface Vehicles Broad Learning System Dynamic Surface Control Leader-follower Relation-invariable Persistent Formation Trajectory Tracking
DOI10.1109/ACCESS.2018.2886202
URLView the original
Language英語English
Scopus ID2-s2.0-85058632615
Fulltext Access
Citation statistics
Cited Times [WOS]:25   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Faculty of Science and Technology, University of Macau, Macau, 999078, Macao
2.College of Navigation, Dalian Maritime University, Dalian, 116026, China
3.State Key Laboratory of Management and Control for Complex Systems, College of Navigation, Institute of Automation, Chinese Academy of Sciences, Beijing, 100080, China
4.Unmanned System Research Institute, Northwestern Polytechnical University, Xi'an, 710072, China
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Chen, C. L.Philip,Yu, Dengxiu,Liu, Lu. Automatic leader-follower persistent formation control for autonomous surface vehicles[J]. IEEE Access,2019,7:12146-12155.
APA Chen, C. L.Philip,Yu, Dengxiu,&Liu, Lu.(2019).Automatic leader-follower persistent formation control for autonomous surface vehicles.IEEE Access,7,12146-12155.
MLA Chen, C. L.Philip,et al."Automatic leader-follower persistent formation control for autonomous surface vehicles".IEEE Access 7(2019):12146-12155.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Chen, C. L.Philip]'s Articles
[Yu, Dengxiu]'s Articles
[Liu, Lu]'s Articles
Baidu academic
Similar articles in Baidu academic
[Chen, C. L.Philip]'s Articles
[Yu, Dengxiu]'s Articles
[Liu, Lu]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Chen, C. L.Philip]'s Articles
[Yu, Dengxiu]'s Articles
[Liu, Lu]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.