Abstract

This work mainly studies the problem of how to steer a group of underactuated unmanned underwater vehicles (UUVs) to specified paths coordinately. The algorithm proposed consists of a single path‐following strategy and a path parameter consensus tracking strategy. In the context of single path following, we describe the path to be followed by an arbitrary scalar, then by using Lyapunov and backstepping theories, a single path‐following strategy was derived to drive each UUV move to the predefined path asymptotically. In the coordinated level, we focus on the coordination for the scalar parameters. In particular, we show that all the path parameters can track with a virtual reference leader who is a neighbor of only a subset of following UUVs with local interactions. The stability of the closed system was proved and analyzed theoretically. The validity of the algorithm proposed is supported by simulation results.

Highlights

  • With the development of artificial intelligence, robots have been widely used for complex tasks such as handling searching and rescuing in a dangerous environment

  • In the context of single path following, we describe the path to be followed by an arbitrary scalar, by using Lyapunov and backstepping theories, a single path-following strategy was derived to drive each unmanned underwater vehicle (UUV) move to the predefined path asymptotically

  • Neural networks methods were used to deal with the uncertainties of the telerobot model to ensure a guaranteed performance; extreme learning machine-based control scheme and combined radial basis function with neural networks techniques were developed to compensate for unknown nonlinearity in the manipulator dynamics and communication delays in [2, 3], respectively

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Summary

Introduction

With the development of artificial intelligence, robots have been widely used for complex tasks such as handling searching and rescuing in a dangerous environment. This method only needs to control the error in a normal direction relative to the path and allowing a quick convergence to the path; this method demands that the initial position of the vehicle must be located in a circle with a radius of curvature centered at this closest point To relax this conservative and necessary condition, Lapierre and Jouvencel [6] took an arbitrary point as the reference point and describe the path by the curvilinear abscissa of this point; the algorithm proposed in this paper took this point as a virtual leader and derived an updating law for the curvilinear. Motivated by the ideas of consensus tracking and aforementioned works, we consider the truly distributed path-following problem of underactuated unmanned vehicles in this proposal.

Problem Formulation
Consensus Path-following Controller Design
Simulation Results
Conclusions
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