Leader–Follower Formation Control of USVs With Prescribed Performance and Collision Avoidance

By Shude He, Min Wang, Shi-lu Dai, Fei Luo. IEEE Transactions on Industrial Informatics, 2019

395 citations recorded by the source corpus.

This paper addresses a decentralized leader–follower formation control problem for a group of fully actuated unmanned surface vehicles with prescribed performance and collision avoidance. The vehicles are subject to time-varying external disturbances, and the vehicle dynamics include both parametric uncertainties and uncertain nonlinear functions. The control objective is to make each vehicle follow its reference trajectory and avoid collision between each vehicle and its leader. We consider prescribed performance constraints, including transient and steady-state performance constraints, on formation tracking errors. In the kinematic design, we introduce the dynamic surface control technique to avoid the use of vehicle's acceleration. To compensate for the uncertainties and disturbances, we apply an adaptive control technique to estimate the uncertain parameters including the upper bounds of the disturbances and present neural network approximators to estimate uncertain nonlinear dynamics. Consequently, we design a decentralized adaptive formation controller that ensures uniformly ultimate boundedness of the closed-loop system with prescribed performance and avoids collision between each vehicle and its leader. Simulation results illustrate the effectiveness of the decentralized formation controller.

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

View Paper: https://www.semanticscholar.org/paper/fbd8e0d290442788fee06e9b49ddfe695cdb6b7e

How researchers see this paper

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

In Aerospace Engineering

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

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

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],”