Distributed Containment Maneuvering of Multiple Marine Vessels via Neurodynamics-Based Output Feedback

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Article number7815342
Pages (from-to)3831-3839
Journal / PublicationIEEE Transactions on Industrial Electronics
Issue number5
Online published16 Jan 2017
Publication statusPublished - May 2017


In this paper, a neurodynamics-based output feedback scheme is proposed for distributed containment maneuvering of marine vessels guided by multiple parameterized paths without using velocity measurements. Each vessel is subject to internal model uncertainties and external disturbances induced by wind, waves, and ocean currents. In order to recover unmeasured velocity information as well as to identify unknown vessel dynamics, an echo state network (ESN) based observer using recorded input-output data is proposed for each vessel. Based on the observed velocity information of neighboring vessels, distributed containment maneuvering laws are developed at the kinematic level. Next, in order to shape the transient motion profile for vessel kinetics to follow, finite-time nonlinear tracking differentiators are employed to generate smooth reference signals as well as to extract the time derivatives of kinematic control laws. Finally, ESN-based dynamic control laws are constructed at the kinetic level. The stability of the closed-loop system is analyzed via input-to-state stability and cascade theory. Simulation results are provided to illustrate the efficacy of the proposed neurodynamics-based output feedback approach.

Research Area(s)

  • Containment maneuvering, echo state network (ESN), marine vessels, nonlinear tracking differentiator (NLTD), output feedback, AUTONOMOUS UNDERWATER VEHICLES, NONLINEAR MULTIAGENT SYSTEMS, DYNAMIC SURFACE CONTROL, NEURAL-NETWORKS, CONSENSUS CONTROL, TRACKING, LEADERS, DESIGNS, STATE, SHIP