Automatic Leader-Follower Persistent Formation Control for Autonomous Surface Vehicles

doi:10.1109/ACCESS.2018.2886202

CASIA OpenIR > 离退休人员

	Automatic Leader-Follower Persistent Formation Control for Autonomous Surface Vehicles
	Chen, C. L. Philip 1,2,3; Yu, Dengxiu 1,4; Liu, Lu 2
发表期刊	IEEE ACCESS
ISSN	2169-3536
	2019
卷号	7 页码:12146-12155
通讯作者	Yu, Dengxiu(yudengxiu@126.com)
摘要	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.
关键词	Leader-follower autonomous surface vehicles trajectory tracking relation-invariable persistent formation broad learning system dynamic surface control
DOI	10.1109/ACCESS.2018.2886202
关键词[WOS]	NEURAL-NETWORK ; SYSTEMS
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61751202] ; National Natural Science Foundation of China[61751205] ; National Natural Science Foundation of China[61572540] ; Key Program for International S and T Cooperation Projects of China[2016YFE0121200] ; Macau Science and Technology Development Fund[079/2017/A2] ; Macau Science and Technology Development Fund[024/2015/AMJ] ; Macau Science and Technology Development Fund[019/2015/A] ; University of Macau ; National Natural Science Foundation of China[61751202] ; National Natural Science Foundation of China[61751205] ; National Natural Science Foundation of China[61572540] ; Key Program for International S and T Cooperation Projects of China[2016YFE0121200] ; Macau Science and Technology Development Fund[079/2017/A2] ; Macau Science and Technology Development Fund[024/2015/AMJ] ; Macau Science and Technology Development Fund[019/2015/A] ; University of Macau
项目资助者	National Natural Science Foundation of China ; Key Program for International S and T Cooperation Projects of China ; Macau Science and Technology Development Fund ; University of Macau
WOS研究方向	Computer Science ; Engineering ; Telecommunications
WOS类目	Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS记录号	WOS:000457754100001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：25[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/25264
专题	离退休人员
通讯作者	Yu, Dengxiu
作者单位	1.Univ Macau, Fac Sci & Technol, Macau 999078, Peoples R China 2.Dalian Maritime Univ, Coll Nav, Dalian 116026, Peoples R China 3.Chinese Acad Sci, Coll Nav, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100080, Peoples R China 4.Northwestern Polytech Univ, Unmanned Syst Res Inst, Xian 710072, Shaanxi, Peoples R China
推荐引用方式 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.