Connectivity Preservation and Collision Avoidance of Multi-Unmanned Surface Vehicles Via Adaptive Sliding Control

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 智能检测与装备研究室

	Connectivity Preservation and Collision Avoidance of Multi-Unmanned Surface Vehicles Via Adaptive Sliding Control
	Kang HB(康浩博)2; Ma HJ(马宏军)1; Shao, Shuai 1
	2020
会议日期	December 13-15, 2020
会议地点	Virtual, Shenzhen, China
关键词	Multi-USV system connectivity preservation collision avoidance fuzzy sliding mode control
页码	1242-1249
英文摘要	This paper investigates the connectivity preservation and collision avoidance problems of a multi-unmanned surface vehicle (USV) system. In order to achieve these two goals more effectively, an improved artificial potential function (APF) is designed. For the sake of solving the issue of nonlinear disturbance, a fuzzy sliding mode control method combined with fuzzy radial basis function neural network (Fuzzy-RBFNN) is introduced. Then by Lyapunov method, it can be proved that the system which employs the control scheme proposed in this paper is stable. In addition, the theoretical deduction proves that the USV can track a given ideal signal, and the connectivity preservation and collision avoidance of the multi-USV system can be achieved during formation. Finally, a multi-USV system model including four USVs is established, and the control strategy designed in this paper is adopted to conduct simulation experiments with MATLAB. The results testify that this control project is valid.
源文献作者	IEEE
产权排序	1
会议录	16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-7709-0
WOS记录号	WOS:000653607600193
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/28294]
专题	沈阳自动化研究所_智能检测与装备研究室
通讯作者	Kang HB(康浩博)
作者单位	1.College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning 110819, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016, China
推荐引用方式 GB/T 7714	Kang HB,Ma HJ,Shao, Shuai. Connectivity Preservation and Collision Avoidance of Multi-Unmanned Surface Vehicles Via Adaptive Sliding Control[C]. 见:. Virtual, Shenzhen, China. December 13-15, 2020.