Abstract
This paper deals with the leader-follower formation control of underactuated autonomous surface vehicles in the presence of model uncertainties and input constraints. In a leader-follower formation, an autonomous surface vehicle (ASV) called leader tracks a pre-described trajectory and other ASVs called followers that are controlled to follow the leader with a desired distance and desired relative bearing. To this end, some adaptive robust techniques are adopted to guarantee the robustness of the closed-loop system against model uncertainties, external disturbances, and input saturation constraints. Based on the Lyapunov synthesis, it is proven that with the developed formation controllers, the closed-loop system is stable and all the formation errors converge to a small neighborhood of zero. Simulation results demonstrate the effectiveness of the proposed method.
Highlights
This paper addressed the maneuver of the various distributions of autonomous surface vehicles (ASVs) that currently have an unknown and state-restricted movement of motion
Some examples have been simulated in MATLAB to show the effectiveness of the designed adaptive-robust controllers to keep leader-follower formation among ASVs
We studied leader-follower formation control of underactuated autonomous surface vehicles presence of model uncertainties and control input saturation constraints.autonomous
Summary
The control and modeling of batches or networks of multiple vessels (air and sea) is a new topic that has received much attention in recent years from the community of control researchers. The idea under discussion is that a group of vessels in a given category or network, performance and capability are much better than moving alone on any of the vessels and can perform more tasks: autonomous surface vessels are robotic boats or ships that respond to environmental changes and perform various tasks with minimal manpower intervention. Control of multiple autonomous surface vehicles (ASVs) to operate together as a team was first received attention of control engineers in 1991 [1]. Autonomous surface vessels are robotic ships that can react to environmental changes and fulfill different tasks with minimal human intervention. Relevant applications include ocean exploration, environmental monitoring, disaster search search and rescue, surveillance of territorial waters, underway ship replenishment, and so on. UAVs, several methods have several methods have been proposed Among these control schemes, the leader-follower strategy been proposed.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
