Automatic Leader-Follower Persistent Formation Control for Autonomous Surface Vehicles
文献类型：期刊论文
| 作者 | Chen, C. L. Philip1,2,3; Yu, Dengxiu1,4; Liu, Lu2 |
| 刊名 | IEEE ACCESS
 |
| 出版日期 | 2019 |
| 卷号 | 7页码:12146-12155 |
| 关键词 | Leader-follower autonomous surface vehicles trajectory tracking relation-invariable persistent formation broad learning system dynamic surface control |
| ISSN号 | 2169-3536 |
| DOI | 10.1109/ACCESS.2018.2886202 |
| 通讯作者 | Yu, Dengxiu(yudengxiu@126.com) |
| 英文摘要 | This paper presents a novel leader-follower formation control for autonomous surface vehicles (ASVs). The dynamic model of ASV and the traditional methods of trajectory tracking are analyzed. Previous research about ASVs' formation focuses on the way of realizing trajectory tracking under conditions, such as time-delays, finite-time, and non-holonomic system. However, principles of constructing a suitable ASVs formation are often neglected. We present a novel leader-follower relation-invariable persistent formation (RIPF) control for ASVs, from which a persistent formation can be generated in any position. Obtained by using RIPF control potential function, the outputs of RIPF control are data points, which should be smoothened using broad learning system (BLS). The global leader navigates the mission trajectory, and each follower follows the RIPF trajectory to satisfy the RIPF potential function. The neural network-based adaptive dynamic surface control is introduced to solve the mission trajectory tracking problems. Environmental disturbances exist in ASV model, and BLS also can be used to approximate the disturbances. The simulation results show that the proposed generative method and control law are effective to realize the desired formation. |
| WOS关键词 | NEURAL-NETWORK ; SYSTEMS |
| 资助项目 | National Natural Science Foundation of China[61751202] ; National Natural Science Foundation of China[61751205] ; National Natural Science Foundation of China[61572540] ; Key Program for International S and T Cooperation Projects of China[2016YFE0121200] ; Macau Science and Technology Development Fund[079/2017/A2] ; Macau Science and Technology Development Fund[024/2015/AMJ] ; Macau Science and Technology Development Fund[019/2015/A] ; University of Macau |
| WOS研究方向 | Computer Science ; Engineering ; Telecommunications |
| 语种 | 英语 |
| WOS记录号 | WOS:000457754100001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Key Program for International S and T Cooperation Projects of China ; Macau Science and Technology Development Fund ; University of Macau |
| 源URL | [http://ir.ia.ac.cn/handle/173211/25263]  |
| 专题 | 离退休人员 |
| 通讯作者 | Yu, Dengxiu |
| 作者单位 | 1.Univ Macau, Fac Sci & Technol, Macau 999078, Peoples R China 2.Dalian Maritime Univ, Coll Nav, Dalian 116026, Peoples R China 3.Chinese Acad Sci, Coll Nav, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100080, Peoples R China 4.Northwestern Polytech Univ, Unmanned Syst Res Inst, Xian 710072, Shaanxi, Peoples R China |
| 推荐引用方式 GB/T 7714 | Chen, C. L. Philip,Yu, Dengxiu,Liu, Lu. Automatic Leader-Follower Persistent Formation Control for Autonomous Surface Vehicles[J]. IEEE ACCESS,2019,7:12146-12155. |
| APA | Chen, C. L. Philip,Yu, Dengxiu,&Liu, Lu.(2019).Automatic Leader-Follower Persistent Formation Control for Autonomous Surface Vehicles.IEEE ACCESS,7,12146-12155. |
| MLA | Chen, C. L. Philip,et al."Automatic Leader-Follower Persistent Formation Control for Autonomous Surface Vehicles".IEEE ACCESS 7(2019):12146-12155. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。