Adaptive dynamic surface control for formations of autonomous surface vehicles with uncertain dynamics

IEEE Transactions on Control Systems Technology

Volumn 21, Issue 2, 2013, Pages 513-520

  Peng, Zhouhua ^a   Wang, Dan ^a   Chen, Zhiyong ^b,c   Hu, Xiaojing ^d   Lan, Weiyao ^e  

^a DALIAN MARITIME UNIVERSITY   (China)

^b UNIVERSITY OF NEWCASTLE   (Australia)

^c HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (China)

^d Liaoning Entry Exit Inspection and Quarantine Bureau   (China)

^e XIAMEN UNIVERSITY   (China)

Author keywords

Autonomous surface vehicles (ASVs); dynamic surface control; formation control; neural networks (NNs); uncertain dynamics

Indexed keywords

AUTONOMOUS SURFACE VEHICLES; DYNAMIC SURFACE CONTROL; FORMATION CONTROL; NEURAL NETWORKS (NNS); UNCERTAIN DYNAMICS;

DYNAMICS; NEURAL NETWORKS; VEHICLES;

CONTROLLERS;

EID: 84874609852     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2011.2181513     Document Type: Article

References (34)

1. A. Das, R. Fierro, V. Kumar, J. Ostrowski, J. Spletzer, and C. Taylor, "A vision-based formation control framework," IEEE Trans. Robot. Autom., vol. 18, no. 5, pp. 813-825, Oct. 2002.
2. C. Luca, M. Fabio, P. Domenico, and T. Mario, "Leader-follower formation control of nonholonomic mobile robots with input constraints," Automatica, vol. 44, no. 5, pp. 1343-1349, May 2008.
3. B. Yun, B.M. Chen, K. Y. Lum, and T. H. Lee, "Design and implementation of a leader-follower cooperative control unmanned helicopters," J. Control Theory Appl., vol. 8, no. 1, pp. 61-68, Jan. 2010.
4. K. Choi, S. J.Yoo, J. B. Park, andY.H. Choi, "Adaptive formation control in absence of leader's velocity information," IET Control Theory Appl., vol. 4, no. 4, pp. 521-528, Apr. 2010.
5. R. Beard, J. Lawton, and F. Hadaegh, "A coordination architecture for spacecraft formation control," IEEE Trans. Control Syst. Technol., vol. 9, no. 6, pp. 777-790, Nov. 2001.
6. T. Balch and R. C. Arkin, "Behavior-based formation control for multirobot teams," IEEE Trans. Robot. Autom., vol. 14, no. 6, pp. 926-939, Dec. 1999.
7. F. Arrichiello, S. Chiaverini, and T. I. Fossen, "Formation control of underactuated surface vessels using the null-space-based behavioral control," in Proc. Int. Conf. Intell. Robots Syst., Oct. 2006, pp. 5942-5947.
8. I. F. Ihle, M. Arcak, and T. I. Fossen, "Passivity-based designs for synchronized path following," Automatica, vol. 43, no. 9, pp. 1508-1518, Dec. 2007.
9. J. A. Fax andR. M. Murray, "Information flow and cooperative control of vehicle formations," IEEE Trans. Autom. Control, vol. 49, no. 9, pp. 1465-1476, Sep. 2004.
10. G. Lafferriere, A. Williams, J. Caughman, and J. J. P. Veerman, "Decentralized control of vehicle formations," Syst. Control Lett., vol. 54, no. 9, pp. 899-910, Sep. 2005.
11. W. Ren, "Consensus strategies for cooperative control of vehicle formations," IET Control Theory Appl., vol. 1, no. 2, pp. 505-512, Mar. 2007.
12. N. E. Leonard and E. Fiorelli, "Virtual leader, artificial potentials and coordinated control of groups," in Proc. IEEE Conf. Decision Control, 2001, pp. 2968-2973.
13. V. Gazi and R. Ordóñez, "Target tracking using artificial potentials and sliding mode control," Int. J. Control, vol. 80, no. 10, pp. 1626-1635, Oct. 2007.
14. K. D. Do, "Output-feedback formation tracking control of unicycletype mobile robots with limited sensing ranges," Robot. Autonomous Syst., vol. 57, no. 1, pp. 34-47, Jan. 2009.
15. R. Skjetne, S. Moi, and T. I. Fossen, "Nonlinear formation control of marine vessel," in Proc. Conf. Decision Control, 2002, pp. 1699-1704.
16. F. Fahimi, "Sliding mode formation control for under-actuated autonomous surface vehicle," in Proc. Amer. Control Conf., 2006, pp. 4255-4260.
17. M. Breivik, V. E. Hovstein, and T. I. Fossen, "Ship formation control: A guided leader-follower approach," IFAC World Congr., vol. 17, no. 1, pp. 16008-16014, Jul. 2008.
18. E. Kyrkjebø, K. Y. Pettersen, M. Wondergem, and H. Nijmeijer, "Output synchronization control of ship replenishment operations: Theory and experiments," Control Eng. Pract., vol. 15, no. 6, pp. 741-755, Jun. 2006.
19. R. Cui, S. S. Ge, B. V. E. How, and Y. S. Choo, "Leader-follower formation control of underactuated autonomous underwater vehicles," Ocean Eng., vol. 37, no. 17-18, pp. 1491-1502, Dec. 2010.
20. T. Dierks and S. Jagannathan, "Neural network control of mobile robot formations using RISE feedback," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 39, no. 2, pp. 332-347, Apr. 2009.
21. J.H. Li, P.M. Lee, B.H. Jun, andY.K. Lim, "Point-to-point navigation of underactuated ships," Automatica, vol. 44, no. 12, pp. 3201-3205, Dec. 2008.
22. K. D. Do and J. Pan, "Global robust adaptive path following of underactuated ships," Automatica, vol. 42, no. 10, pp. 1713-1722, Oct. 2006.
23. K. P. Tee and S. Z. Ge, "Control of fully actuated ocean surface vessels using a class of feedforward approximators," IEEE Trans. Control Syst. Technol., vol. 14, no. 4, pp. 750-756, Jul. 2006.
24. K. Hornik, "Approximation capabilities of multilayer feedforward networks," Neural Netw., vol. 4, no. 2, pp. 251-257, 1991.
25. F. L. Lewis, A. Yesildirek, and K. Liu, "Multilayer neural-net robot controller with guaranteed tracking performance," IEEE Trans. Neural Netw., vol. 7, pp. 388-399, Mar. 1996.
26. N. Hovakimyan, F. Nardi, A. Calise, and N. Kim, "Adaptive output feedback control of uncertain systems using hidden layer neural networks," IEEE Trans. Neural Netw., vol. 13, no. 6, pp. 1420-1431, Nov. 2002.
27. D. Swaroop, J. K. Hedrick, P. P. Yip, and J. C. Gerdes, "Dynamic surface control for a class of nonlinear system," IEEE Trans. Autom. Control, vol. 45, no. 10, pp. 1893-1899, Oct. 2000.
28. D. Wang and J. Huang, "Adaptive neural network control for a class of uncertain nonlinear systems in pure-feedback form," Automatica, vol. 38, no. 8, pp. 1365-1372, Aug. 2002.
29. D. Wang and J. Huang, "Neural network-based adaptive dynamic surface control for a class of uncertain nonlinear systems in strict-feedback form," IEEE Trans. Neural Netw., vol. 6, no. 1, pp. 195-202, Jan. 2005.
30. Z. H. Peng, D.Wang, Y. B. Yao, W. Y. Lan, X. Q. Li, and G. Sun, "Robust adaptive formation control with autonomous surface vehicles," in Proc. Chinese Control Conf., 2010, pp. 2115-2120.
31. Z. H. Peng, D. Wang, W. Y. Lan, X. Q. Li, and G. Sun, "Filtering robust adaptive formation guidance of unmanned surface vehicles with uncertain leader dynamics," in Proc. Int. Conf. Intell. Control Inform. Process., 2010, pp. 143-148.
32. Z. H. Peng and D. Wang, "Robust adaptive formation control of autonomous surface vehicles with uncertain dynamics," IET Control Theory Appl., vol. 5, no. 12, pp. 1378-1387, Aug. 2011.
33. R. Sattiger and A. J. Calise, "An adaptive vision-based approach to decentralized formation control," in Proc. AIAA Guid., Nav., Control Conf. Exhibit, 2004, pp. 2004-5252.
34. T. I. Fossen, Marine Control System: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles. Trondheim, Norway: Marine Cyernetics, 2002.