scholarly journals Consensus Path-following Control of Multiple Underactuated Unmanned Underwater Vehicles

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Yintao Wang ◽  
Yao Yao
Keyword(s):  
Path Following ◽  
Underwater Vehicles ◽  
Virtual Reference ◽  
Unmanned Underwater Vehicles ◽  
Consensus Tracking ◽  
Path Following Control ◽  
Simulation Results ◽  
The Stability ◽  
Single Path ◽  
Tracking Strategy

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. In the context of single path following, we describe the path to be followed by an arbitrary scalar, then by using Lyapunov and backstepping theories, a single path-following strategy was derived to drive each UUV move to the predefined path asymptotically. In the coordinated level, we focus on the coordination for the scalar parameters. In particular, we show that all the path parameters can track with a virtual reference leader who is a neighbor of only a subset of following UUVs with local interactions. The stability of the closed system was proved and analyzed theoretically. The validity of the algorithm proposed is supported by simulation results.

scholarly journals Spatial Path Following for AUVs Using Adaptive Neural Network Controllers

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Jiajia Zhou ◽  
Zhaodong Tang ◽  
Honghan Zhang ◽  
Jianfang Jiao
Keyword(s):  
Neural Network ◽  
Autonomous Underwater Vehicles ◽  
Path Following ◽  
Underwater Vehicles ◽  
Ocean Current ◽  
Lyapunov Stability Theorem ◽  
Adaptive Neural Network ◽  
Path Following Control ◽  
Following Error ◽  
Neural Network Controllers

The spatial path following control problem of autonomous underwater vehicles (AUVs) is addressed in this paper. In order to realize AUVs’ spatial path following control under systemic variations and ocean current, three adaptive neural network controllers which are based on the Lyapunov stability theorem are introduced to estimate uncertain parameters of the vehicle’s model and unknown current disturbances. These controllers are designed to guarantee that all the error states in the path following system are asymptotically stable. Simulation results demonstrated that the proposed controller was effective in reducing the path following error and was robust against the disturbances caused by vehicle's uncertainty and ocean currents.

scholarly journals Underactuated USV Path Following Mechanism Based on the Cascade Method

2021 ◽  
Author(s):  
Mingzhen Lin ◽  
Zhiqiang Zhang ◽  
Yandong Pang ◽  
Hongsheng Lin ◽  
Qing Ji
Keyword(s):  
Tracking Error ◽  
Path Following ◽  
Ocean Current ◽  
Control Law ◽  
Guidance Law ◽  
Path Following Control ◽  
Heading Control ◽  
Velocity Constraints ◽  
The Stability ◽  
Rudder Angle

Abstract The path following control under disturbance was studied for an underactuated unmanned surface vehicle (USV) subject to the rudder angle and velocity constraints. For this reason, a variable look-ahead integral line-of-sight (LOS) guidance law was designed on the basis of the disturbance estimation and compensation, and a cascade path following control system was created following the heading control law based on the model prediction. Firstly, the guidance law was designed using the USV three-degree-of-freedom (DOF) motion model and the LOS method, while the tracking error state was introduced to design the real-time estimation of disturbance observer and compensate for the influence of ocean current. Moreover, the stability of the system was analyzed. Secondly, sufficient attention was paid to the rudder angle and velocity constraints and the influence of system delay and other factors in the process of path following when the heading control law was designed with the USV motion response model and the model predictive control (MPC). The moving horizon optimization strategy was adopted to achieve better dynamic performance, effectively overcome the influence of model and environmental uncertainties, and further prove the stability of the control law. Thirdly, a simulation experiment was carried out to verify the effectiveness and advancement of the proposed algorithm. Fourthly, the “Sturgeon 03” USV was used in the lake test of the proposed control algorithm to prove its feasibility in the engineering practices.

Sign in / Sign up

Export Citation Format

Share Document