Collective Dynamics and Control for Multiple Unmanned Surface Vessels

被引：83

作者：

Liu, Bin ^{[1
,2
]}

Chen, Zhiyong ^{[3
]}

Zhang, Hai-Tao ^{[4
,5
]}

Wang, Xudong ^{[1
,2
]}

Geng, Tao ^{[1
,2
]}

Su, Housheng ^{[4
]}

Zhao, Jin ^{[4
]}

机构：

[1] Guangdong HUST Ind Technol Res Inst, Guangdong Prov Key Lab Digital Mfg Equipment, Dongguan 523808, Peoples R China

[2] Huazhong Univ Sci & Technol, Sch Artificial Intelligence & Automat, Wuhan 430074, Peoples R China

[3] Univ Newcastle, Sch Elect Engn & Comp, Callaghan, NSW 2308, Australia

[4] Huazhong Univ Sci & Technol, Sch Artificial Intelligence & Automat, Key Lab Imaging Proc & Intelligence Control, Wuhan 430074, Peoples R China

[5] Huazhong Univ Sci & Technol, State Key Lab Digital Mfg Equipment & Technol, Wuhan 430074, Peoples R China

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2020年 / 28卷 / 06期

基金：

中国国家自然科学基金;

关键词：

Mathematical model; Protocols; Kinematics; Control systems; Automation; Imaging; Collective control; multi-agent systems (MASs); regulation; underactuated control; unmanned surface vessels (USVs); MODEL-PREDICTIVE CONTROL; CIRCULAR MOTION; SYSTEMS;

D O I：

10.1109/TCST.2019.2931524

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A multi-unmanned surface vessel (USV) formation control system is established on a novel platform composed of three 1.2-m-long hydraulic jet propulsion surface vessels, a differential GPS reference station, and inter-vessel Zigbee communication modules. The system is also equipped with an upper level collective multi-USV protocol and a lower level vessel dynamics controller. The system is capable of chasing and surrounding a target vessel. The results are supported by rigorous theoretical analysis in terms of asymptotical surrounding behavior and trajectory regulation. Extensive experiments are conducted to demonstrate the effectiveness and efficiency of the proposed hardware and software architectures.

引用

页码：2540 / 2547

页数：8

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