Time-Varying Formation Control of Autonomous Surface Vehicles Based on Affine Observer

Chuancong Tang; Hai-Tao Zhang; Haosen Cao; Jun Wang

doi:10.1109/TIE.2024.3355505

Time-Varying Formation Control of Autonomous Surface Vehicles Based on Affine Observer

Chuancong Tang, Hai-Tao Zhang^*, Haosen Cao, Jun Wang

^*Corresponding author for this work

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

17 Citations (Scopus)

Abstract

This article addresses an affine-formation tracking control (AFTC) of underactuated autonomous surface vehicles (ASVs). A distributed observer is developed to estimate desired formation positions via an affine transformation. A trajectory tracking controller with prescribed-performance is designed to steer the ASV fleet with a time-varying formation pattern. Sufficient conditions are derived to guarantee the asymptotical stability of the closed-loop system governed by AFTC. Both numerical simulation and experimental results with five ASVs on a platform are elaborated to substantiate the effectiveness and superiority of the proposed AFTC method for achieving time-varying formation through narrow waterways. © 2024 IEEE.

Original language	English
Pages (from-to)	12952-12963
Number of pages	12
Journal	IEEE Transactions on Industrial Electronics
Volume	71
Issue number	10
Online published	5 Feb 2024
DOIs	https://doi.org/10.1109/TIE.2024.3355505
Publication status	Published - Oct 2024

Research Keywords

Autonomous surface vehicles (ASVs)
control systems
cooperative systems
Directed graphs
Formation control
Observers
Sea surface
Task analysis
Trajectory
Trajectory tracking

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title = "Time-Varying Formation Control of Autonomous Surface Vehicles Based on Affine Observer",

abstract = "This article addresses an affine-formation tracking control (AFTC) of underactuated autonomous surface vehicles (ASVs). A distributed observer is developed to estimate desired formation positions via an affine transformation. A trajectory tracking controller with prescribed-performance is designed to steer the ASV fleet with a time-varying formation pattern. Sufficient conditions are derived to guarantee the asymptotical stability of the closed-loop system governed by AFTC. Both numerical simulation and experimental results with five ASVs on a platform are elaborated to substantiate the effectiveness and superiority of the proposed AFTC method for achieving time-varying formation through narrow waterways. {\textcopyright} 2024 IEEE.",

keywords = "Autonomous surface vehicles (ASVs), control systems, cooperative systems, Directed graphs, Formation control, Observers, Sea surface, Task analysis, Trajectory, Trajectory tracking",

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T1 - Time-Varying Formation Control of Autonomous Surface Vehicles Based on Affine Observer

AU - Tang, Chuancong

AU - Zhang, Hai-Tao

AU - Cao, Haosen

AU - Wang, Jun

PY - 2024/10

Y1 - 2024/10

N2 - This article addresses an affine-formation tracking control (AFTC) of underactuated autonomous surface vehicles (ASVs). A distributed observer is developed to estimate desired formation positions via an affine transformation. A trajectory tracking controller with prescribed-performance is designed to steer the ASV fleet with a time-varying formation pattern. Sufficient conditions are derived to guarantee the asymptotical stability of the closed-loop system governed by AFTC. Both numerical simulation and experimental results with five ASVs on a platform are elaborated to substantiate the effectiveness and superiority of the proposed AFTC method for achieving time-varying formation through narrow waterways. © 2024 IEEE.

AB - This article addresses an affine-formation tracking control (AFTC) of underactuated autonomous surface vehicles (ASVs). A distributed observer is developed to estimate desired formation positions via an affine transformation. A trajectory tracking controller with prescribed-performance is designed to steer the ASV fleet with a time-varying formation pattern. Sufficient conditions are derived to guarantee the asymptotical stability of the closed-loop system governed by AFTC. Both numerical simulation and experimental results with five ASVs on a platform are elaborated to substantiate the effectiveness and superiority of the proposed AFTC method for achieving time-varying formation through narrow waterways. © 2024 IEEE.

KW - Autonomous surface vehicles (ASVs)

KW - control systems

KW - cooperative systems

KW - Directed graphs

KW - Formation control

KW - Observers

KW - Sea surface

KW - Task analysis

KW - Trajectory

KW - Trajectory tracking

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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85184802126&origin=recordpage

U2 - 10.1109/TIE.2024.3355505

DO - 10.1109/TIE.2024.3355505

M3 - RGC 21 - Publication in refereed journal

SN - 0278-0046

VL - 71

SP - 12952

EP - 12963

JO - IEEE Transactions on Industrial Electronics

JF - IEEE Transactions on Industrial Electronics

IS - 10

ER -

Time-Varying Formation Control of Autonomous Surface Vehicles Based on Affine Observer

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Research Keywords

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