UM
Cooperative Path following Ring-Networked Under-Actuated Autonomous Surface Vehicles: Algorithms and Experimental Results
Liu,Lu1,2; Wang,Dan1,2; Peng,Zhouhua1,2; Li,Tieshan3; Chen,C. L.Philip3,4
2020-04-01
Source PublicationIEEE Transactions on Cybernetics
ISSN2168-2267
Volume50Issue:4Pages:1519-1529
AbstractThis paper addresses the cooperative path following the problem of ring-networked under-actuated autonomous surface vehicles on a closed curve. A cooperative guidance law is proposed at the kinematic level such that a symmetric formation pattern is achieved. Specifically, individual guidance laws of surge speed and angular rate are developed by using a backstepping technique and a line-of-sight guidance method. Then, a coordination design is proposed to update the path variables under a ring-networked topology. The equilibrium point of the closed-loop system has been proven to be globally asymptotically stable. The result is extended to the cooperative path following the lack of sharing of a global reference velocity, and a distributed observer is designed to recover the reference velocity to each vehicle. Moreover, the cooperative path following the presence of an unknown sideslip is considered, and an extended state observer is developed to compensate for the effect of the unknown sideslip. Both simulation and experimental results are provided to illustrate the effectiveness of the proposed cooperative guidance law for the path following over a closed curve.
KeywordClosed curve cooperative path following distributed observer extended state observer (ESO) line-of-sight symmetric formation
DOI10.1109/TCYB.2018.2883335
URLView the original
Language英语
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Cited Times [WOS]:18   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorWang,Dan
Affiliation1.School of Marine Electrical Engineering,Dalian Maritime University,Dalian,116026,China
2.Collaborative Innovation Research Institute of Autonomous Ship,Dalian Maritime University,Dalian,116026,China
3.Navigation College,Dalian Maritime University,Dalian,116026,China
4.Faculty of Science and Technology,University of Macau,999078,Macao
Recommended Citation
GB/T 7714
Liu,Lu,Wang,Dan,Peng,Zhouhua,et al. Cooperative Path following Ring-Networked Under-Actuated Autonomous Surface Vehicles: Algorithms and Experimental Results[J]. IEEE Transactions on Cybernetics,2020,50(4):1519-1529.
APA Liu,Lu,Wang,Dan,Peng,Zhouhua,Li,Tieshan,&Chen,C. L.Philip.(2020).Cooperative Path following Ring-Networked Under-Actuated Autonomous Surface Vehicles: Algorithms and Experimental Results.IEEE Transactions on Cybernetics,50(4),1519-1529.
MLA Liu,Lu,et al."Cooperative Path following Ring-Networked Under-Actuated Autonomous Surface Vehicles: Algorithms and Experimental Results".IEEE Transactions on Cybernetics 50.4(2020):1519-1529.
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