Abstract
Around the cooperative path-following control for the underactuated surface vessel (USV) and the unmanned aerial vehicle (UAV), a logic virtual ship-logic virtual aircraft (LVS-LVA) guidance principle is developed to generate the reference heading signals for the USV-UAV system by using the “virtual ship” and the “virtual aircraft”, which is critical to establish an effective correlation between the USV and the UAV. Taking the steerable variables (the main engine speed and the rudder angle of the USV, and the rotor angular velocities of the UAV) as the control input, a robust adaptive neural cooperative control algorithm was designed by employing the dynamic surface control (DSC), radial basic function neural networks (RBF-NNs) and the event-triggered technique. In the proposed algorithm, the reference roll angle and pitch angle for the UAV can be calculated from the position control loop by virtue of the nonlinear decouple technique. In addition, the system uncertainties were approximated through the RBF-NNs and the transmission burden from the controller to the actuators was reduced for merits of the event-triggered technique. Thus, the derived control law is superior in terms of the concise form, low transmission burden and robustness. Furthermore, the tracking errors of the USV-UAV cooperative control system can converge to a small compact set through adjusting the designed control parameters appropriately, and it can be also guaranteed that all the signals are the semi-global uniformly ultimately bounded (SGUUB). Finally, the effectiveness of the proposed algorithm has been verified via numerical simulations in the presence of the time-varying disturbances.
Highlights
In recent years, advanced unmanned systems have attracted a lot of attention and have been applied to ocean engineering [1,2,3,4], such as unmanned surface vessels (USVs), unmanned aerial vehicles (UAVs) and unmanned underwater vehicles (UUVs)
The problem of a cooperative control approach was investigated for path-following of the USV-UAV system in the presence of model uncertainties and external disturbances
The logic virtual ship (LVS) can provide information of the reference path for the UAV based on the LVS
Summary
In recent years, advanced unmanned systems have attracted a lot of attention and have been applied to ocean engineering [1,2,3,4], such as unmanned surface vessels (USVs), unmanned aerial vehicles (UAVs) and unmanned underwater vehicles (UUVs). Motivated by the above literature review, our attention was devoted to developing a novel guidance principle to establish the effective connection for the USV-UAV and design a cooperative control law to control the USV-UAV system track to the desired path in presence of the uncertain dynamics and the time-varying disturbances. (2) A robust adaptive neural cooperative control law for the USV-UAV was designed to execute the path-following by using the input-based event-triggered rule, focusing on the main engine speed, rudder angle and angular velocity of four rotors. The nonlinear dynamic of three degrees of freedom (DOF) and six DOF for the USV-UAV system was formulated as the Euler–Lagrange form This can facilitate the control design by fusing the RBF-NNs and the backstepping method. The proposed control algorithm is characterized by its concise form, low transmission burden and robustness
Sign-in/Register to view highlights & summary 
Published Version (
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