Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics

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	Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics
	Peng, Zhouhua ; Wang, Dan ; Chen, Zhiyong ; Hu, Xiaojing ; Lan, Weiyao ; Lan WY(兰维瑶)
刊名	http://dx.doi.org/10.1109/TCST.2011.2181513
	2013
关键词	NONLINEAR-SYSTEMS ARTIFICIAL POTENTIALS UNDERACTUATED SHIPS FEEDBACK FORM NETWORKS LEADERS
英文摘要	National Nature Science Foundation of China [60674037, 61074017, 61074004]; Program for Liaoning Excellent Talents in Universities [2009R06]; Fundamental Research Funds for the Central Universities; In this brief, we consider the formation control problem of underactuated autonomous surface vehicles (ASVs) moving in a leader-follower formation, in the presence of uncertainties and ocean disturbances. A robust adaptive formation controller is developed by employing neural network and dynamic surface control technique. The stability of the design is proven via Lyapunov analysis where semiglobal uniform ultimate boundedness of the closed-loop signals is guaranteed. The advantages of the proposed formation controller are that: first, the proposed method only uses the measurements of line-of-sight range and angle by local sensors, no other information about the leader is required for control implementation; second, the developed neural formation controller is able to capture the vehicle dynamics without exact information of coriolis and centripetal force, hydrodynamic damping and disturbances from the environment. Comparative analysis with a model-based approach is given to demonstrate the effectiveness of the proposed method.
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
内容类型	期刊论文
源URL	[http://dspace.xmu.edu.cn/handle/2288/92488]
专题	信息技术－已发表论文
推荐引用方式 GB/T 7714	Peng, Zhouhua,Wang, Dan,Chen, Zhiyong,et al. Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics[J]. http://dx.doi.org/10.1109/TCST.2011.2181513,2013.
APA	Peng, Zhouhua,Wang, Dan,Chen, Zhiyong,Hu, Xiaojing,Lan, Weiyao,&兰维瑶.(2013).Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics.http://dx.doi.org/10.1109/TCST.2011.2181513.
MLA	Peng, Zhouhua,et al."Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics".http://dx.doi.org/10.1109/TCST.2011.2181513 (2013).