Adaptive Platoon Control for Marine Surface Vehicles in the Presence of Constraints

Xiaoling Liang,Duansong Wang

doi:10.1155/2020/3423926

Xiaoling Liang, Duansong Wang

Open Access

https://doi.org/10.1155/2020/3423926

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Abstract

This paper presents the platoon formation control design for unmanned surface vehicles with input and output constraints. First, Barrier Lyapunov Function (BLF) is employed to ensure the desired line-of-sight (LOS) range. The LOS range should be maintained within the predefined regions between each marine vehicle and its predecessor while the connected platoons track the trajectory. Next, to handle the model uncertainties and unknown external disturbance, we propose an adaptive neural network controller that approximates the unknown nonlinearities. Furthermore, the Nussbaum function is applied to compensate for input saturations. In addition, formation errors can be guaranteed by stability analysis. The distance between two consecutive agents does not violate collision avoidance and connectivity in the presence of input saturation. Finally, the feasibility of the theoretical results is illustrated through the simulation results.

Highlights

Multiagent systems have been an active area due to higher efficiency, stronger robustness, and less communication requirement [1,2,3]
Motivated by the previous discussion, this paper investigates the issue of adaptive platoon formation control of marine surface vehicles
To overcome the nonlinear uncertainty and external disturbance, adaptive neural control schemes are proposed for multiple marine surface vehicles with model uncertainties in platoon formation cases

Summary

Introduction

Multiagent systems have been an active area due to higher efficiency, stronger robustness, and less communication requirement [1,2,3]. Motivated by the previous discussion, this paper investigates the issue of adaptive platoon formation control of marine surface vehicles. To overcome the nonlinear uncertainty and external disturbance, adaptive neural control schemes are proposed for multiple marine surface vehicles with model uncertainties in platoon formation cases. The requirements of limited input amplitude should be incorporated into the platoon formation design Actuator saturation is another important factor to a practical system. Decentralized neural network based on adaptive backstepping scheme was presented in [34] to deal with time delay and input nonsmooth constraint. Motivated by the aforementioned discussion, a platoon formation control approach of multiple marine vessels has been developed to simultaneously deal with output constraint and input saturation. (i) Output constraints on marine vessels positioning within line-of-sight cone is proceeded under the framework of adaptive backstepping design.

Preliminaries and Problem Description

Preliminaries

Control Design with Barrier Lyapunov Function

Simulation Examples

Conclusions