Method of cooperative formation control for underactuated USVs based on nonlinear backstepping and cascade system theory

• Autorzy: Dong Zaopeng , Liu Yang , Wang Hao , Qin Tao

Identyfikatory

DOI

10.2478/pomr-2021-0014

• Języki publikacji: EN

Abstrakty

EN

This paper presents a method for the cooperative formation control of a group of underactuated USVs. The problem of formation control is first converted to one of stabilisation control of the tracking errors of the follower USVs using system state transformation design. The followers must keep a fixed distance from the leader USV and a specific heading angle in order to maintain a certain type of formation. A global differential homeomorphism transformation is then designed to create a tracking error system for the follower USVs, in order to simplify the description of the control system. This makes the complex formation control system easy to analyse, and allows it to be decomposed into a cascaded system. In addition, several intermediate state variables and virtual control laws are designed based on nonlinear backstepping, and actual control algorithms for the follower USVs to control the surge force and yaw moment are presented. A global system that can ensure uniform asymptotic stability of the USVs’ cooperative formation control is achieved by combining Lyapunov stability theory and cascade system theory. Finally, several simulation experiments are carried out to verify the validity, stability and reliability of our cooperative formation control method.

Słowa kluczowe

EN

unmanned surface vehicle (USV); cooperative formation control; underactuated system; nonlinear backstepping; cascade system theory

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2021
• Tom: nr 1
• Strony: 149--162
• Opis fizyczny: Bibliogr. 30 poz., rys., tab.

Twórcy

autor

Dong Zaopeng

• Key Laboratory of High Performance Ship Technology (Wuhan University of Technology) Ministry of Education Wuhan University of Technology Wuhan, No. 1178 Heping Avenue 430063 China
• School of Transportation Wuhan University of Technology Wuhan, No. 1178 Heping Avenue, 430063 China

autor

Liu Yang

• Key Laboratory of High Performance Ship Technology (Wuhan University of Technology), Ministry of Education, Wuhan University of Technology, Wuhan, China
• School of Transportation, Wuhan University of Technology, Wuhan, China

autor

Wang Hao

• Key Laboratory of High Performance Ship Technology (Wuhan University of Technology), Ministry of Education, Wuhan University of Technology, Wuhan, China
• School of Transportation, Wuhan University of Technology, Wuhan, China

autor

Qin Tao

• School of Mechanical Engineering Hubei University of Arts and Sciences Xiangyang, No.296 Longzhong Road, 441053, China

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).