Robust formation tracking of multiple autonomous surface vessels with individual objectives: A noncooperative game-based approach

2022 ◽  
Vol 119 ◽  
pp. 104975
Author(s):  
Guanghui Wen ◽  
Xiao Fang ◽  
Jun Zhou ◽  
Jialing Zhou
Keyword(s):  
Noncooperative Game ◽  
Formation Tracking ◽  
Surface Vessels

Formation tracking control for multiple surface vessels systems

2019 ◽  
Author(s):  
Jin Ma ◽  
Jie Tao ◽  
Yuan Yang ◽  
Yaqi Deng ◽  
Mingyang Zhao ◽  
...  
Keyword(s):  
Tracking Control ◽  
Formation Tracking ◽  
Surface Vessels

scholarly journals Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation

2020 ◽  
Vol 10 (10) ◽  
pp. 3372
Author(s):  
Guoqing Xia ◽  
Xiaoming Xia ◽  
Bo Zhao ◽  
Chuang Sun ◽  
Xianxin Sun
Keyword(s):  
Collision Avoidance ◽  
Tracking Control ◽  
Input Saturation ◽  
Model Uncertainties ◽  
Environmental Disturbances ◽  
Formation Tracking ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Connectivity Preservation ◽  
The Stability

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. Additional constraints, such as collision avoidance, heterogeneous limited communication range and input saturation are also considered. A modified barrier Lyapunov function (BLF) is introduced to achieve the connectivity preservation, the collision avoidance and the distributed formation tracking. Extended state observer (ESO) is employed to estimate total disturbances consisting of environmental disturbances and model uncertainties. Auxiliary variables are introduced to deal with the underactuated problem and input saturation. A distributed controller is developed for each USV. Using the Lyapunov method analyze the stability of the system, it is proven that all signals are bounded and tracking errors converge to a neighborhood of the origin. Simulation results show that the proposed controller is practicable and effective.

SOLID-STATE COHERENT PULSE RADAR IN MILLIMETER WAVEBAND FOR DETECTION OF LOW-PROFILE SURFACE VESSELS

2014 ◽  
Vol 73 (8) ◽  
pp. 705-717
Author(s):  
G. I. Khlopov ◽  
A. V. Zorenko ◽  
A. L Teplyuk ◽  
C. Plueschke ◽  
J. Wolff ◽  
...  
Keyword(s):  
Solid State ◽  
Millimeter Waveband ◽  
Pulse Radar ◽  
Low Profile ◽  
Surface Vessels ◽  
Coherent Pulse
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