UM
Line-of-Sight Target Enclosing of an Underactuated Autonomous Surface Vehicle with Experiment Results
Jiang,Yue1; Peng,Zhouhua1; Wang,Dan1; Chen,C. L.Philip2
2020-02-01
Source PublicationIEEE Transactions on Industrial Informatics
ISSN1551-3203
Volume16Issue:2Pages:832-841
AbstractThis paper presents a design method for target enclosing of an underactuated autonomous surface vehicle to surround a maneuvering target with time-varying velocity, and both the target and the follower suffer from unknown ocean currents. Specifically, a target-enclosing controller is developed based on a line-of-sight (LOS) guidance and an ocean current estimator, where only the yaw rate is used to stabilize the circular motion around the target. Then, the proposed strategy is extended to the case where the target velocity is unavailable and the ocean currents time-varying. By using the relative range and angle information, an extended state observer is developed to estimate unknown relative velocities together with the ocean currents in real-time. Based on the estimated relative dynamics, a LOS, target-enclosing controller is developed without any velocity information of the target. The stability of the closed-loop system is analyzed via the Lyapunov theory. Both simulations and experiments are conducted to show the performance of the proposed LOS, target-enclosing controller for surrounding a maneuvering target.
KeywordAutonomous surface vehicle (ASV) line-of-sight (LOS) guidance target enclosing time-varying ocean currents unknown target velocity
DOI10.1109/TII.2019.2923664
URLView the original
Language英语
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Cited Times [WOS]:9   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorPeng,Zhouhua
Affiliation1.School of Marine Electrical Engineering,Collaborative Innovation Research Institute of Autonomous Ship,Dalian Maritime University,Dalian,116026,China
2.Faculty of Science and Technology,University of Macau,999078,Macao
Recommended Citation
GB/T 7714
Jiang,Yue,Peng,Zhouhua,Wang,Dan,et al. Line-of-Sight Target Enclosing of an Underactuated Autonomous Surface Vehicle with Experiment Results[J]. IEEE Transactions on Industrial Informatics,2020,16(2):832-841.
APA Jiang,Yue,Peng,Zhouhua,Wang,Dan,&Chen,C. L.Philip.(2020).Line-of-Sight Target Enclosing of an Underactuated Autonomous Surface Vehicle with Experiment Results.IEEE Transactions on Industrial Informatics,16(2),832-841.
MLA Jiang,Yue,et al."Line-of-Sight Target Enclosing of an Underactuated Autonomous Surface Vehicle with Experiment Results".IEEE Transactions on Industrial Informatics 16.2(2020):832-841.
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