Affine Formation Maneuver Control for Multi-Heterogeneous Unmanned Surface Vessels in Narrow Channel Environments

Journal of Marine Science and Engineering(2023)

引用 0|浏览1
暂无评分
摘要
This paper investigates the affine formation maneuver control for multi-heterogeneous unmanned surface vessels (USV), aiming to enable them to navigate through narrow channels in the near-sea environment. The approach begins with implementing an affine transformation to facilitate flexible configuration adjustments within the formation system. The affine transformation of the entire formation is achieved by controlling the leaders’ positions. Second, this article introduces an anti-perturbation formation tracking controller for the underactuated vessels, which assume the role of leaders, to accurately follow the arbitrary formation transformation. Third, the followers consist of fully actuated vessels with the same kinematic model as the leaders but different dynamic models. This paper utilizes the affine localizability theorem to derive an expected virtual time-varying trajectory based on the leaders’ trajectory. The followers achieve the desired formation maneuver control by tracking this expected virtual time-varying trajectory through an anti-perturbation formation tracking controller. Finally, the efficacy of the introduced control law is confirmed and supported by the results obtained from rigorous simulation experiments.
更多
查看译文
关键词
vessels,narrow channel environments,multi-heterogeneous
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要