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Underactuated leader-follower synchronisation for multi-agent systems with rejection of unknown disturbances
2015
2015 American Control Conference (ACC)
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The goal is to synchronise the motion of a leader and an underactuated follower. ...
In this paper leader-follower synchronization is considered for underactuated followers in an inhomogeneous multi-agent system. ...
This class of systems includes underactuated autonomous surface vessels (ASV) and autonomous underwater vehicles (AUV) moving in the horizontal plane. ...
doi:10.1109/acc.2015.7171808
dblp:conf/amcc/BelleterP15
fatcat:bdrtxlo2tbhyvmib3mdne2fbnm
Configuration consensus of two underactuated planar rigid bodies
2008
2008 47th IEEE Conference on Decision and Control
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A consensus control framework for configuration of multiple underactuated planar rigid bodies is developed. ...
Finally, we present a numerical example to show efficacy of the proposed approach. ...
surface vessel to track any desired trajectory. ...
doi:10.1109/cdc.2008.4739305
dblp:conf/cdc/HutagalungHU08
fatcat:dd462rgwebfwdnr3jchtwiotve
Table of Content
2021
2021 International Conference on Security, Pattern Analysis, and Cybernetics(SPAC)
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Vessel Linjian Yang, Xin Hu, Xinjiang Wei, Ying Zhou………………………….………..…254 Integral Backstepping Based ADRC for Path Following of Underactuated Surface Vessel Junyu Chen, Yue Long, Tieshan Li, Weiwei Bai ...
…………………………..........…..…260 Self-triggered tracking control of underactuated surface vessels with stochastic noise Yingjie Deng, Dingxuan Zhao and Tao Liu…………………………………..……..…266 Session SaO III-B: 10:50 ...
doi:10.1109/spac53836.2021.9539914
fatcat:lakfa62dxjhjrdg2tim6m7zjiu
Table of Contents
2021
IEEE transactions on fuzzy systems
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Pedrycz 2689 Event-Triggered Composite Adaptive Fuzzy Output-Feedback Control for Path Following of Autonomous Surface Vessels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
Yao 2675 Maximum Fuzzy Consensus Feedback Mechanism With Minimum Cost and Private Interest in Group Decision-Making . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
doi:10.1109/tfuzz.2021.3105293
fatcat:kyitbavlefgd5meurmpm7fc2ru
Leader–Follower Synchronisation for a Class of Underactuated Systems
[chapter]
2016
Lecture notes in control and information sciences
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The goal is to synchronise the motion of a leader and an underactuated follower. ...
Measurements of the leader's position, velocity, acceleration, and jerk are available, while the dynamics of the leader is unknown. ...
This class of systems includes underactuated autonomous surface vessels (ASV) and autonomous underwater vehicles (AUV) moving in the horizontal plane. ...
doi:10.1007/978-3-319-30357-4_8
fatcat:y5olca5jezceheyqqxl325lzwy
Path following with disturbance rejection for inhomogeneous formations with underactuated agents
2015
2015 European Control Conference (ECC)
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Formation path following is achieved using a twofold strategy consisting of a guidance law to steer each vessel to a predefined path and a decentralised nonlinear formation control law utilising local ...
This paper considers straight-line path following for inhomogeneous formations with underactuated agents. ...
Examples of agents that are in this class of systems are underactuated autonomous surface vessels (ASV) and underactuated autonomous underwater vehicles (AUV) moving in the horizontal plane. ...
doi:10.1109/ecc.2015.7330675
dblp:conf/eucc/BelleterP15
fatcat:42nag4y7djectn23iwcmqipxri
Consensus Path-following Control of Multiple Underactuated Unmanned Underwater Vehicles
2018
Complexity
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This work mainly studies the problem of how to steer a group of underactuated unmanned underwater vehicles UUVs to specified paths coordinately. ...
The algorithm proposed consists of a single path-following strategy and a path parameter consensus tracking strategy. ...
Acknowledgments This work was supported by the National Natural Science Foundation of China via Grants 51209175, 61472326, and it was also supported by the Natural Science Foundation of Jiangsu Province ...
doi:10.1155/2018/4975187
fatcat:og7iw6ecbzdolkcwwgypx7v5de
Table of Contents
2022
IEEE Transactions on Control of Network Systems
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Materassi 113 Robust Formation Control and Obstacle Avoidance for Heterogeneous Underactuated Surface Vessel Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
Dou 390 On Consensusability of Linear Interconnected Multiagent Systems and Simultaneous Stabilization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
doi:10.1109/tcns.2022.3174787
fatcat:lfgpan4gxnbubkrvknptldresa
A Staged Finite-Time Control Strategy for Formation of Underactuated Unmanned Surface Vehicles
2021
Complexity
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The formation control issue for a group of underactuated unmanned surface vehicles (USVs) is discussed in the paper, and a staged finite-time control strategy for the USVs is proposed. ...
To deal with the nonholonomic behavior of the system, the dynamics of the USV is transformed into cascade systems. ...
the formation tracking of a feet of underactuated autonomous underwater vehicles (AUVs) with constrained inputs. ...
doi:10.1155/2021/6695221
fatcat:3cdp3wixqbhlvoehjjfzs6h6li
Table of Contents
2022
IEEE Transactions on Cybernetics
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Zhao 2846 Sideslip-Compensated Guidance-Based Adaptive Neural Control of Marine Surface Vessels . . . . . . . . R. Rout, R. Cui, and W. ...
Xia 2885 Event-Triggered Consensus Control for Networked Underactuated Robotic Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
doi:10.1109/tcyb.2022.3173089
fatcat:b7pugd3vvzdttmx74sfmd2vgq4
Experimental Verification of a Coordinated Path-Following Strategy for Underactuated Marine Vehicles
2019
Frontiers in Robotics and AI
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This work presents the results of an experimental verification of a coordinated path following strategy for underactuated marine vehicles. ...
The coordinated path following strategy is presented, and is then experimentally verified using three autonomous underwater vehicles. ...
This work was partly supported by the Research Council of Norway through the Centers of Excellence funding scheme, project No. 223254 -NTNU AMOS. ...
doi:10.3389/frobt.2019.00035
pmid:33501051
pmcid:PMC7805978
fatcat:fvqf23slhrdt7ppzzyaoijzoda
2021 Index IEEE Journal of Oceanic Engineering Vol. 46
2021
IEEE Journal of Oceanic Engineering
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The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination. ...
Sha-vering and Seakeeping Model of Submerged Vessel Motion. ...
Roper, D., +, JOE Oct. 2021 1179-1191 Arctic Adaptive Sampling of Surface Fronts in the Arctic Using an Autonomous Underwater Vehicle. ...
doi:10.1109/joe.2021.3122747
fatcat:g4vktyf3wjbb7dmviaosvx32oe
Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation
2020
Applied Sciences
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This paper investigates the formation tracking control problem of a group of underactuated surface vessels (USVs) in the presence of model uncertainties and environmental disturbances. ...
Auxiliary variables are introduced to deal with the underactuated problem and input saturation. A distributed controller is developed for each USV. ...
Abbreviations The following abbreviations are used in this manuscript: USVs Underactuated surface vessels DSC Dynamic surface control BLF Barrier Lyapunov function ...
doi:10.3390/app10103372
fatcat:sybltrf5urcyhpfosfr6z34oya
Path following for formations of underactuated marine vessels under influence of constant ocean currents
2014
53rd IEEE Conference on Decision and Control
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In this paper the straight line path following problem is considered for formations of underactuated marine vessels. ...
A Line-of-Sight (LOS) guidance law with two feedback linearising controllers is used to achieve path following of each individual vessel. ...
In Section II the model of an underactuated surface vessel is given and the control objectives are stated. ...
doi:10.1109/cdc.2014.7040095
dblp:conf/cdc/BelleterP14
fatcat:qtm46skb6zfc7kr3q7zilj5f54
Formation control of multiple autonomous underwater vehicles: a review
2023
Intelligence & Robotics
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This paper presents a comprehensive overview of recent developments in formation control of multiple autonomous underwater vehicles (AUVs). ...
The difficulties confronted in synthesis of a practical AUVs formation system are clarified and analyzed in terms of the characteristic of AUVs, adverse underwater environments, and communication constraints ...
In vehicle assisted UANs, AUVs play a role in shortening the distance of information connection from the stationary nodes to the surface vessels or buoy beacons. ...
doi:10.20517/ir.2023.01
fatcat:yx6dhbam5rb3jjp65sxnw6ufxy
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