A Staged Finite-Time Control Strategy for Formation of Underactuated Unmanned Surface Vehicles
The formation control issue for a group of underactuated unmanned surface vehicles (USVs) is discussed in the paper, and a staged finite-time control strategy for the USVs is proposed. Firstly, we try to steer each USV to its own starting point in the formation for a limited time, under the initial...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/6695221 |
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| author | Hui Ye Xiaofei Yang Chunxiao Ge Zhaoping Du |
| author_facet | Hui Ye Xiaofei Yang Chunxiao Ge Zhaoping Du |
| author_sort | Hui Ye |
| collection | DOAJ |
| description | The formation control issue for a group of underactuated unmanned surface vehicles (USVs) is discussed in the paper, and a staged finite-time control strategy for the USVs is proposed. Firstly, we try to steer each USV to its own starting point in the formation for a limited time, under the initial condition that each of these vehicles is parked at random. To deal with the nonholonomic behavior of the system, the dynamics of the USV is transformed into cascade systems. Then, the finite-time controller is designed for each vehicle based on homogeneity theory. After each USV reaches its own starting point with desired orientation, the model of the vehicle is decomposed into two subsystems under the Serret-Frenet frame. In order to maintain the formation pattern, two finite-time distributed controllers are developed for the surge subsystem and the yaw subsystem, respectively. The settling time for the staged control strategy is limited. Numerical simulations are carried out to illustrate the effectiveness of the proposed formation control strategy. |
| format | Article |
| id | doaj-art-a760fd3dd67b4ccb92c6a6be1d833789 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-a760fd3dd67b4ccb92c6a6be1d8337892025-02-03T06:08:08ZengWileyComplexity1076-27871099-05262021-01-01202110.1155/2021/66952216695221A Staged Finite-Time Control Strategy for Formation of Underactuated Unmanned Surface VehiclesHui Ye0Xiaofei Yang1Chunxiao Ge2Zhaoping Du3School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaSchool of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaSchool of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaSchool of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaThe formation control issue for a group of underactuated unmanned surface vehicles (USVs) is discussed in the paper, and a staged finite-time control strategy for the USVs is proposed. Firstly, we try to steer each USV to its own starting point in the formation for a limited time, under the initial condition that each of these vehicles is parked at random. To deal with the nonholonomic behavior of the system, the dynamics of the USV is transformed into cascade systems. Then, the finite-time controller is designed for each vehicle based on homogeneity theory. After each USV reaches its own starting point with desired orientation, the model of the vehicle is decomposed into two subsystems under the Serret-Frenet frame. In order to maintain the formation pattern, two finite-time distributed controllers are developed for the surge subsystem and the yaw subsystem, respectively. The settling time for the staged control strategy is limited. Numerical simulations are carried out to illustrate the effectiveness of the proposed formation control strategy.http://dx.doi.org/10.1155/2021/6695221 |
| spellingShingle | Hui Ye Xiaofei Yang Chunxiao Ge Zhaoping Du A Staged Finite-Time Control Strategy for Formation of Underactuated Unmanned Surface Vehicles Complexity |
| title | A Staged Finite-Time Control Strategy for Formation of Underactuated Unmanned Surface Vehicles |
| title_full | A Staged Finite-Time Control Strategy for Formation of Underactuated Unmanned Surface Vehicles |
| title_fullStr | A Staged Finite-Time Control Strategy for Formation of Underactuated Unmanned Surface Vehicles |
| title_full_unstemmed | A Staged Finite-Time Control Strategy for Formation of Underactuated Unmanned Surface Vehicles |
| title_short | A Staged Finite-Time Control Strategy for Formation of Underactuated Unmanned Surface Vehicles |
| title_sort | staged finite time control strategy for formation of underactuated unmanned surface vehicles |
| url | http://dx.doi.org/10.1155/2021/6695221 |
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