Abstract
This paper investigates the coordinated path following of multiple marine vessels with speed saturation. Based on virtual leader strategy, the authors show how the neural dynamic model and passivity-based techniques are brought together to yield a distributed control strategy. The desired path following is achieved by means of a virtual dynamic leader, whose controller is designed based on the biological neural shunting model. Utilizing the characteristic of bounded and smooth output of neural dynamic model, the tracking error jump is avoided and speed saturation problem is solved in straight path. Meanwhile, the coordinated path following of multiple vessels with a desired spatial formation is achieved through defining the formation reference point. The consensus of formation reference point is realized by using the synchronization controller based on passivity. Finally, simulation results validate the effectiveness of the proposed coordinated algorithm.
Highlights
Control of multiple vehicles has received great attention from the control community as an emerging technology in recent years
Many studies on coordination control issues of multiple marine vessels have been widely reported in the existing literatures, which are mainly focused on formation control, coordinated dynamic positioning, and coordinated path following
Based on the Guidance-Control structure, the virtual leader is designed based on the bioinspired neural dynamic model, and the coordinated formation of multiple vessels is realized based on passivity
Summary
Control of multiple vehicles has received great attention from the control community as an emerging technology in recent years. The speed jump will happen at the critical point, which is beyond the actuator limitation This need motivates the research on coordinated path following controller structure design for marine vessels with speed saturation. The guidance system is designed by means of a virtual dynamic leader, and the consensus of formation reference point is realized by using the synchronization controller. The desired path following is achieved by means of a virtual dynamic leader, whose controller is designed based on the neural dynamic model. Based on the Guidance-Control structure, the virtual leader is designed based on the bioinspired neural dynamic model, and the coordinated formation of multiple vessels is realized based on passivity.
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