CASIA OpenIR
Automatic Leader-Follower Persistent Formation Control for Autonomous Surface Vehicles
Chen, C. L. Philip1,2,3; Yu, Dengxiu1,4; Liu, Lu2
Source PublicationIEEE ACCESS
ISSN2169-3536
2019
Volume7Pages:12146-12155
Corresponding AuthorYu, Dengxiu(yudengxiu@126.com)
AbstractThis 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.
KeywordLeader-follower autonomous surface vehicles trajectory tracking relation-invariable persistent formation broad learning system dynamic surface control
DOI10.1109/ACCESS.2018.2886202
WOS KeywordNEURAL-NETWORK ; SYSTEMS
Indexed BySCI
Language英语
Funding ProjectNational 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
Funding OrganizationNational 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 Research AreaComputer Science ; Engineering ; Telecommunications
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS IDWOS:000457754100001
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/25264
Collection中国科学院自动化研究所
Corresponding AuthorYu, Dengxiu
Affiliation1.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
Recommended Citation
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.
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