An Error Transformation Approach for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Networked Uncertain Underactuated Surface Vessels

被引:107
作者
Park, Bong Seok [1 ,2 ]
Yoo, Sung Jin [3 ]
机构
[1] Kongju Natl Univ, Div Elect Elect & Control Engn, Cheonan 31080, South Korea
[2] Kongju Natl Univ, Inst IT Convergence Technol, Cheonan 31080, South Korea
[3] Chung Ang Univ, Sch Elect & Elect Engn, Seoul 156756, South Korea
基金
新加坡国家研究基金会;
关键词
Collision avoidance; connectivity preservation; distributed formation tracking; heterogeneous limited communication ranges; underactuated surface vessels (USVs); COOPERATIVE CONTROL; CONTAINMENT CONTROL; OBSTACLE AVOIDANCE; ADAPTIVE TRACKING; MOBILE ROBOTS; PRESERVATION; VEHICLES; SYSTEMS; DESIGN; DISTURBANCES;
D O I
10.1109/TCYB.2018.2834919
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper investigates a distributed connectivity-preserving and collision-avoiding formation tracking problem of networked uncertain underactuated surface vessels (USVs) with heterogene o us limited communication ranges. All nonlinearities in the dynamic model are assumed to be completely unknown. Compared with the existing formation tracking results for USVs, our primary contribution is to develop a new nonlinearly transformed formation error for achieving the initial connectivity preservation, the collision avoidance, and the distributed formation tracking without sir itching the desired formation pattern and using any additional potential functions. In other words, these three objectives can be achieved by using only one transformed formation error surface. The local tracker design strategy using the nonlinearly transformed error is established under the direct graph topology, where the adaptive function approximation technique and the auxiliary variables are employed to compensate for uncertain nonlinearities and to deal with the underactuated problem of USVs, respectively. Finally, the Lyapunov stability analysis and simulations are performed to verify the effectiveness of the proposed theoretic result.
引用
收藏
页码:2955 / 2966
页数:12
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