Output-Feedback Cooperative Formation Maneuvering of Autonomous Surface Vehicles With Connectivity Preservation and Collision Avoidance

By Zhouhua Peng, Dan Wang, Tie-shan Li, Min Han. IEEE Transactions on Cybernetics, 2020

351 citations recorded by the source corpus.

In this paper, a cooperative time-varying formation maneuvering problem with connectivity preservation and collision avoidance is investigated for a fleet of autonomous surface vehicles (ASVs) with position–heading measurements. Each vehicle is subject to unknown kinetics induced by internal model uncertainty and external disturbances. At first, a nonlinear state observer is used to recover the unmeasured linear velocity and yaw rate as well as unknown uncertainty and disturbances. Then, observer-based cooperative time-varying formation maneuvering control laws are designed based on artificial potential functions, nonlinear tracking differentiators, and a backstepping technique. The stability of closed-loop distributed formation control system is analyzed based on input-to-state stability and cascade stability. The salient features of the proposed method are as follows. First, cooperative time-varying formation maneuvering with the capability of connectivity preservation and collision avoidance can be achieved in the absence of velocity measurements. Second, the complexity of the cooperative time-varying formation maneuvering control laws is reduced without resorting to dynamic surface control. Third, the uncertainty and disturbance are actively rejected in the presence of position–heading measurements. Simulation results are given to substantiate the proposed output feedback control method for cooperative time-varying formation maneuvering of ASVs with connectivity preservation and collision avoidance.

Subfields: Computer Networks and Communications, Control and Systems Engineering, Ocean Engineering

View Paper: https://www.semanticscholar.org/paper/8f11842cfbdcc9c09d3fb082d87bb921925eeb97

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Computer Networks and Communications

1. Jun Wang
2. Zhouhua Peng
3. Dan Wang
4. Qing-Long Han
5. Xianming Zhang
6. Xiaohua Ge
7. Dong Yue
8. James Lam

In Control and Systems Engineering

1. Jun Wang
2. Zhouhua Peng
3. Dan Wang
4. Qing-Long Han
5. Qing-Long Han
6. Shengyuan Xu
7. Xianming Zhang
8. Xiaohua Ge

In Ocean Engineering

1. Jun Wang
2. Zhouhua Peng
3. Dan Wang
4. Qing-Long Han

Citations in the corpus

• An Overview of Recent Advances in Coordinated Control of Multiple Autonomous Surface Vehicles (2021, methodology): “collision avoidance with team members, existing methods include prescribed performance technique [68], [69] and methods based on artificial potential functions [38], [70],”