Formation Control for Water-Jet USV Based on Bio-Inspired Method
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...
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| Veröffentlicht in: | China ocean engineering 2018-03, Vol.32 (1), p.117-122 |
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| container_title | China ocean engineering |
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| creator | Fu, Ming-yu Wang, Duan-song Wang, Cheng-long |
| description | 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. |
| doi_str_mv | 10.1007/s13344-018-0013-1 |
| format | Article |
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Simulation results are presented to verify the effectiveness and robust of the proposed controller.</description><identifier>ISSN: 0890-5487</identifier><identifier>EISSN: 2191-8945</identifier><identifier>DOI: 10.1007/s13344-018-0013-1</identifier><language>eng</language><publisher>Nanjing: Chinese Ocean Engineering Society</publisher><subject>backstepping ; bio-inspired ; Biomimetics ; Center of gravity ; Coastal Sciences ; Computation ; Computer simulation ; Control ; Coordinate transformations ; Engineering ; Fluid- and Aerodynamics ; formation ; Gravity ; Marine & Freshwater Sciences ; Methods ; Numerical and Computational Physics ; Oceanography ; Offshore Engineering ; Robust control ; Ships ; Simulation ; Stability ; Surface vehicles ; Unmanned vehicles ; USV ; water-jet</subject><ispartof>China ocean engineering, 2018-03, Vol.32 (1), p.117-122</ispartof><rights>Chinese Ocean Engineering Society and Springer-Verlag GmbH Germany, part of Springer Nature 2018</rights><rights>Copyright Springer Science & Business Media 2018</rights><rights>Copyright © Wanfang Data Co. 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Simulation results are presented to verify the effectiveness and robust of the proposed controller.</description><subject>backstepping</subject><subject>bio-inspired</subject><subject>Biomimetics</subject><subject>Center of gravity</subject><subject>Coastal Sciences</subject><subject>Computation</subject><subject>Computer simulation</subject><subject>Control</subject><subject>Coordinate transformations</subject><subject>Engineering</subject><subject>Fluid- and Aerodynamics</subject><subject>formation</subject><subject>Gravity</subject><subject>Marine & Freshwater Sciences</subject><subject>Methods</subject><subject>Numerical and Computational Physics</subject><subject>Oceanography</subject><subject>Offshore Engineering</subject><subject>Robust control</subject><subject>Ships</subject><subject>Simulation</subject><subject>Stability</subject><subject>Surface vehicles</subject><subject>Unmanned vehicles</subject><subject>USV</subject><subject>water-jet</subject><issn>0890-5487</issn><issn>2191-8945</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2018</creationdate><recordtype>article</recordtype><recordid>eNp9kEtPwzAQhC0EEqXwA7hF4sTBsOtH7NyAikdREQcoHC03cdJWbVzsIAS_HqNUcOO0Wumb2Z0h5BjhDAHUeUTOhaCAmgIgp7hDBgwLpLoQcpcMQBdApdBqnxzEuASQKAUOyMWND2vbLXybjXzbBb_Kah-yV9u5QO9dl02fXrIrG12VJeRq4em4jZtFSPuD6-a-OiR7tV1Fd7SdQzK9uX4e3dHJ4-14dDmhpWDYUStmztZ1mWvhJNOV0CWvbAmK5UVl2WymAXgu0RU8d07hTDjMFeeVtFVdAedDctr7fti2tm1jlv49tOmi-Wrmn01pHEvhAVP4xJ707Cb4t3cXuz-YATDGlZR5orCnyuBjDK42m7BY2_BpEMxPqaYv1SRf81OqwaRhvSYmtm1c-HP-T7R9p5z7tnlLut9LCgCEgkJp_g1A_YMK</recordid><startdate>20180301</startdate><enddate>20180301</enddate><creator>Fu, Ming-yu</creator><creator>Wang, Duan-song</creator><creator>Wang, Cheng-long</creator><general>Chinese Ocean Engineering Society</general><general>Springer Nature B.V</general><general>College of Automation, Harbin Engineering University, Harbin 150001, China</general><scope>2RA</scope><scope>92L</scope><scope>CQIGP</scope><scope>W94</scope><scope>~WA</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7TN</scope><scope>F1W</scope><scope>H96</scope><scope>L.G</scope><scope>2B.</scope><scope>4A8</scope><scope>92I</scope><scope>93N</scope><scope>PSX</scope><scope>TCJ</scope></search><sort><creationdate>20180301</creationdate><title>Formation Control for Water-Jet USV Based on Bio-Inspired Method</title><author>Fu, Ming-yu ; Wang, Duan-song ; Wang, Cheng-long</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c421t-a4beaffc684e528d48c3dac07269da2bb8003651e936ee71b4e16733d5adfd033</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2018</creationdate><topic>backstepping</topic><topic>bio-inspired</topic><topic>Biomimetics</topic><topic>Center of gravity</topic><topic>Coastal Sciences</topic><topic>Computation</topic><topic>Computer simulation</topic><topic>Control</topic><topic>Coordinate transformations</topic><topic>Engineering</topic><topic>Fluid- and Aerodynamics</topic><topic>formation</topic><topic>Gravity</topic><topic>Marine & Freshwater Sciences</topic><topic>Methods</topic><topic>Numerical and Computational Physics</topic><topic>Oceanography</topic><topic>Offshore Engineering</topic><topic>Robust control</topic><topic>Ships</topic><topic>Simulation</topic><topic>Stability</topic><topic>Surface vehicles</topic><topic>Unmanned vehicles</topic><topic>USV</topic><topic>water-jet</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Fu, Ming-yu</creatorcontrib><creatorcontrib>Wang, Duan-song</creatorcontrib><creatorcontrib>Wang, Cheng-long</creatorcontrib><collection>中文科技期刊数据库</collection><collection>中文科技期刊数据库-CALIS站点</collection><collection>中文科技期刊数据库-7.0平台</collection><collection>中文科技期刊数据库-自然科学</collection><collection>中文科技期刊数据库- 镜像站点</collection><collection>CrossRef</collection><collection>Oceanic Abstracts</collection><collection>ASFA: Aquatic Sciences and Fisheries Abstracts</collection><collection>Aquatic Science & Fisheries Abstracts (ASFA) 2: Ocean Technology, Policy & Non-Living Resources</collection><collection>Aquatic Science & Fisheries Abstracts (ASFA) Professional</collection><collection>Wanfang Data Journals - Hong Kong</collection><collection>WANFANG Data Centre</collection><collection>Wanfang Data Journals</collection><collection>万方数据期刊 - 香港版</collection><collection>China Online Journals (COJ)</collection><collection>China Online Journals (COJ)</collection><jtitle>China ocean engineering</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Fu, Ming-yu</au><au>Wang, Duan-song</au><au>Wang, Cheng-long</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Formation Control for Water-Jet USV Based on Bio-Inspired Method</atitle><jtitle>China ocean engineering</jtitle><stitle>China Ocean Eng</stitle><addtitle>China Ocean Engineering</addtitle><date>2018-03-01</date><risdate>2018</risdate><volume>32</volume><issue>1</issue><spage>117</spage><epage>122</epage><pages>117-122</pages><issn>0890-5487</issn><eissn>2191-8945</eissn><abstract>The formation control problem for underactuated unmanned surface vehicles (USVs) is addressed by a distributed strategy based on virtual leader strategy. 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| identifier | ISSN: 0890-5487 |
| ispartof | China ocean engineering, 2018-03, Vol.32 (1), p.117-122 |
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| language | eng |
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| source | Springer Online Journals Complete; Alma/SFX Local Collection |
| subjects | backstepping bio-inspired Biomimetics Center of gravity Coastal Sciences Computation Computer simulation Control Coordinate transformations Engineering Fluid- and Aerodynamics formation Gravity Marine & Freshwater Sciences Methods Numerical and Computational Physics Oceanography Offshore Engineering Robust control Ships Simulation Stability Surface vehicles Unmanned vehicles USV water-jet |
| title | Formation Control for Water-Jet USV Based on Bio-Inspired Method |
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