Coordinated path-following of underactuated unmanned surface vehicles with limited torques over a closed curve

Lu Liu; Dan Wang; Zhouhua Peng; Nan Gu; Bin Zhang

doi:10.1109/ICCA.2017.8003191

Coordinated path-following of underactuated unmanned surface vehicles with limited torques over a closed curve

Lu Liu
, Dan Wang
, Zhouhua Peng
, Nan Gu
, Bin Zhang

Department of Computer Science

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

3 Citations (Scopus)

Abstract

This paper considers coordinated path following of multiple underactuated unmanned surface vehicles (USVs) subject to dynamical uncertainties and limited control torques. The objective is to achieve a symmetric formation pattern over a closed curve. Adaptive coordinated path following controllers are developed by combing a parameter cyclic pursuit approach, a line-of-sight guidance principle, and neural networks. The parameter cyclic pursuit approach is proposed to guarantee that the vehicles are evenly distributed over the closed curve. A salient feature of the proposed coordinated controller is that the control torques are bounded with the bounds known as a priori. It is proven that all error signals in the closed loop are uniformly ultimately bounded.

Original language	English
Title of host publication	2017 13th IEEE International Conference on Control & Automation (ICCA)
Publisher	IEEE Computer Society
Pages	964-969
ISBN (Print)	9781538626795
DOIs	https://doi.org/10.1109/ICCA.2017.8003191
Publication status	Published - 5 Jul 2017
Event	13th IEEE International Conference on Control and Automation (IEEE ICCA 2017) - Metropol Lake Resort, Ohrid, Macedonia, The Former Yugoslav Republic of Duration: 3 Jul 2017 → 6 Jul 2017 https://controls.papercept.net/conferences/scripts/rtf/ICCA17_ContentListWeb_1.html http://uav.ece.nus.edu.sg/~icca17/venue.html

Publication series

Name
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	13th IEEE International Conference on Control and Automation (IEEE ICCA 2017)
Place	Macedonia, The Former Yugoslav Republic of
City	Ohrid
Period	3/07/17 → 6/07/17
Internet address	https://controls.papercept.net/conferences/scripts/rtf/ICCA17_ContentListWeb_1.html http://uav.ece.nus.edu.sg/~icca17/venue.html

Research Keywords

Control Applications
Multi-agent Systems
Adaptive Control

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10.1109/ICCA.2017.8003191

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title = "Coordinated path-following of underactuated unmanned surface vehicles with limited torques over a closed curve",

abstract = "This paper considers coordinated path following of multiple underactuated unmanned surface vehicles (USVs) subject to dynamical uncertainties and limited control torques. The objective is to achieve a symmetric formation pattern over a closed curve. Adaptive coordinated path following controllers are developed by combing a parameter cyclic pursuit approach, a line-of-sight guidance principle, and neural networks. The parameter cyclic pursuit approach is proposed to guarantee that the vehicles are evenly distributed over the closed curve. A salient feature of the proposed coordinated controller is that the control torques are bounded with the bounds known as a priori. It is proven that all error signals in the closed loop are uniformly ultimately bounded.",

keywords = "Control Applications, Multi-agent Systems, Adaptive Control",

author = "Lu Liu and Dan Wang and Zhouhua Peng and Nan Gu and Bin Zhang",

year = "2017",

month = jul,

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doi = "10.1109/ICCA.2017.8003191",

language = "English",

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publisher = "IEEE Computer Society",

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booktitle = "2017 13th IEEE International Conference on Control \& Automation (ICCA)",

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note = "13th IEEE International Conference on Control and Automation (IEEE ICCA 2017) ; Conference date: 03-07-2017 Through 06-07-2017",

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Liu, L, Wang, D, Peng, Z, Gu, N & Zhang, B 2017, Coordinated path-following of underactuated unmanned surface vehicles with limited torques over a closed curve. in 2017 13th IEEE International Conference on Control & Automation (ICCA)., 8003191, IEEE Computer Society, pp. 964-969, 13th IEEE International Conference on Control and Automation (IEEE ICCA 2017), Ohrid, Macedonia, The Former Yugoslav Republic of, 3/07/17. https://doi.org/10.1109/ICCA.2017.8003191

Coordinated path-following of underactuated unmanned surface vehicles with limited torques over a closed curve. / Liu, Lu; Wang, Dan; Peng, Zhouhua et al.
2017 13th IEEE International Conference on Control & Automation (ICCA). IEEE Computer Society, 2017. p. 964-969 8003191.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Coordinated path-following of underactuated unmanned surface vehicles with limited torques over a closed curve

AU - Liu, Lu

AU - Wang, Dan

AU - Peng, Zhouhua

AU - Gu, Nan

AU - Zhang, Bin

PY - 2017/7/5

Y1 - 2017/7/5

N2 - This paper considers coordinated path following of multiple underactuated unmanned surface vehicles (USVs) subject to dynamical uncertainties and limited control torques. The objective is to achieve a symmetric formation pattern over a closed curve. Adaptive coordinated path following controllers are developed by combing a parameter cyclic pursuit approach, a line-of-sight guidance principle, and neural networks. The parameter cyclic pursuit approach is proposed to guarantee that the vehicles are evenly distributed over the closed curve. A salient feature of the proposed coordinated controller is that the control torques are bounded with the bounds known as a priori. It is proven that all error signals in the closed loop are uniformly ultimately bounded.

AB - This paper considers coordinated path following of multiple underactuated unmanned surface vehicles (USVs) subject to dynamical uncertainties and limited control torques. The objective is to achieve a symmetric formation pattern over a closed curve. Adaptive coordinated path following controllers are developed by combing a parameter cyclic pursuit approach, a line-of-sight guidance principle, and neural networks. The parameter cyclic pursuit approach is proposed to guarantee that the vehicles are evenly distributed over the closed curve. A salient feature of the proposed coordinated controller is that the control torques are bounded with the bounds known as a priori. It is proven that all error signals in the closed loop are uniformly ultimately bounded.

KW - Control Applications

KW - Multi-agent Systems

KW - Adaptive Control

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U2 - 10.1109/ICCA.2017.8003191

DO - 10.1109/ICCA.2017.8003191

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781538626795

SP - 964

EP - 969

BT - 2017 13th IEEE International Conference on Control & Automation (ICCA)

PB - IEEE Computer Society

T2 - 13th IEEE International Conference on Control and Automation (IEEE ICCA 2017)

Y2 - 3 July 2017 through 6 July 2017

ER -

Coordinated path-following of underactuated unmanned surface vehicles with limited torques over a closed curve

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