| Formation Control for Water-Jet USV Based on Bio-Inspired Method |
| |
| 作者姓名： | FU Ming-yu WANG Duan-song WANG Cheng-long |
| |
| 作者单位： | College of Automation, Harbin Engineering University, Harbin 150001, China,College of Automation, Harbin Engineering University, Harbin 150001, China,College of Automation, Harbin Engineering University, Harbin 150001, China |
| |
| 基金项目： | This work was partially supported by the National Nature Science Foundation of China (Grant No. 51309062). |
| |
| 摘 要： | The formation control problem for underactuated unmanned surface vehicles (USVs) is addressed by a distributed strategy based on virtual leader strategy. The control system takes account of disturbance induced by external environment. With the coordinate transformation, the advantage of the proposed scheme is that the control point can be any point of the ship instead of the center of gravity. By introducing bio-inspired model, the formation control problem is addressed with backstepping method. This avoids complicated computation, simplifies the control law, and smoothes the input signals. The system uniform ultimate boundness is proven by Lyapunov stability theory with Young inequality. Simulation results are presented to verify the effectiveness and robust of the proposed controller.
|
| 关 键 词： | water-jet USV bio-inspired model backstepping formation control |
| 收稿时间： | 2017/4/18 0:00:00 |
| 修稿时间： | 2017/6/27 0:00:00 |
Formation Control for Water-Jet USV Based on Bio-Inspired Method |
| |
| FU Ming-yu,WANG Duan-song,WANG Cheng-long.Formation Control for Water-Jet USV Based on Bio-Inspired Method[J].Ocean Engineering,2018,32(1):117-122. |
| |
| Authors: | FU Ming-yu WANG Duan-song and WANG Cheng-long |
| |
| Institution: | College of Automation, Harbin Engineering University, Harbin 150001, China,College of Automation, Harbin Engineering University, Harbin 150001, China and College of Automation, Harbin Engineering University, Harbin 150001, China |
| |
| Abstract: | The formation control problem for underactuated unmanned surface vehicles (USVs) is addressed by a distributed strategy based on virtual leader strategy. The control system takes account of disturbance induced by external environment. With the coordinate transformation, the advantage of the proposed scheme is that the control point can be any point of the ship instead of the center of gravity. By introducing bio-inspired model, the formation control problem is addressed with backstepping method. This avoids complicated computation, simplifies the control law, and smoothes the input signals. The system uniform ultimate boundness is proven by Lyapunov stability theory with Young inequality. Simulation results are presented to verify the effectiveness and robust of the proposed controller. |
| |
| Keywords: | water-jet USV bio-inspired model backstepping formation control |
|
| 点击此处可从《海洋工程》浏览原始摘要信息 |
| 点击此处可从《海洋工程》下载免费的PDF全文 |
|
