Time-Varying Formation Control of Autonomous Surface Vehicles Based on Affine Observer
Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review
Author(s)
Related Research Unit(s)
Detail(s)
| Original language | English |
|---|---|
| Pages (from-to) | 12952-12963 |
| Number of pages | 12 |
| Journal / Publication | IEEE Transactions on Industrial Electronics |
| Volume | 71 |
| Issue number | 10 |
| Online published | 5 Feb 2024 |
| Publication status | Published - Oct 2024 |
Link(s)
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.
Research Area(s)
- Autonomous surface vehicles (ASVs), control systems, cooperative systems, Directed graphs, Formation control, Observers, Sea surface, Task analysis, Trajectory, Trajectory tracking
Citation Format(s)
Time-Varying Formation Control of Autonomous Surface Vehicles Based on Affine Observer. / Tang, Chuancong; Zhang, Hai-Tao; Cao, Haosen et al.
In: IEEE Transactions on Industrial Electronics, Vol. 71, No. 10, 10.2024, p. 12952-12963.
In: IEEE Transactions on Industrial Electronics, Vol. 71, No. 10, 10.2024, p. 12952-12963.
Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review
