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Zhang, G, Yin, S, Huang, C and Zhang, W (2023) Intervehicle Security-Based Robust Neural Formation Control for Multiple USVs via APS Guidance. Journal of Marine Science and Engineering, 11 (5).
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Intervehicle Security-Based Robust Neural Formation Control for Multiple USVs via APS Guidance.pdf - Published Version Available under License Creative Commons Attribution. Download (7MB) | Preview |
Abstract
This paper focuses on the intervehicle security-based robust formation control of unmanned surface vehicles (USVs) to implement the formation switch mission. In the scheme, a novel adaptive potential ship (APS)-based guidance principle is developed to prevent intervehicle collisions, which is common and threatening when maneuvering a formation switch. By employing the artificial potential field (APF), the APS can program the real-time attitude reference for USVs by using the security intervehicle distance while achieving the path-following task. As for the control part, a robust adaptive formation control algorithm is proposed to effectively stabilize the USVs to the APS via the fusion of the disturbance observer (DOB) and by using the robust neural damping technique. Regarding the merits of the improved design of the DOB, the weight compression of the neural networks can effectively simplify the structure of the DOB and enhance the observation accuracy of the external disturbance. This can facilitate the avoidance of intervehicle collisions and guarantee the application of the theoretical algorithm in engineering practice. Considerable effort has been made to obtain the semiglobally uniform ultimate bounded (SGUUB) stability via theoretical analysis. Finally, with the sailing scene in a narrow channel, the simulated experiment is illustrated to verify the security performance of the proposed strategy.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | 40 Engineering; 4001 Aerospace Engineering; 0405 Oceanography; 0704 Fisheries Sciences; 0911 Maritime Engineering; 3005 Fisheries sciences; 3709 Physical geography and environmental geoscience; 4015 Maritime engineering |
| Subjects: | T Technology > TA Engineering (General). Civil engineering (General) T Technology > TL Motor vehicles. Aeronautics. Astronautics |
| Divisions: | Engineering |
| Publisher: | MDPI |
| SWORD Depositor: | A Symplectic |
| Date Deposited: | 25 Mar 2025 17:05 |
| Last Modified: | 25 Mar 2025 17:15 |
| DOI or ID number: | 10.3390/jmse11051020 |
| URI: | https://researchonline.ljmu.ac.uk/id/eprint/26001 |
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