Robust neural network‐based tracking control for unmanned surface vessels under deferred asymmetric constraints
Sign Up to like & getrecommendations! Published in 2021 at "International Journal of Robust and Nonlinear Control"
DOI: 10.1002/rnc.5520
Abstract: In this article, the constraints on unmanned surface vessels are imposed after a certain time after the system operation. Based on the shift function, this article proposes an asymmetric barrier Lyapunov function and achieves the… read more here.
Keywords: unmanned surface; deferred asymmetric; neural network; surface vessels ... See more keywords
Robust adaptive formation control of underactuated autonomous surface vessels based on MLP and DOB
Sign Up to like & getrecommendations! Published in 2018 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-018-4374-z
Abstract: This paper investigates the leader–follower formation problem of multiple underactuated autonomous surface vessels in the presence of model uncertainties and environmental disturbances. Specially, the formation is defined in the body-fixed coordinates of the leader vessel… read more here.
Keywords: autonomous surface; dob; leader; formation ... See more keywords
Comparison of control design models and observers for dynamic positioning of surface vessels
Sign Up to like & getrecommendations! Published in 2019 at "Control Engineering Practice"
DOI: 10.1016/j.conengprac.2019.01.015
Abstract: Abstract This paper investigates some fundamental aspects of control system design for dynamic positioning of marine surface vessels. Different control design models are compared. The impact of applying linear and nonlinear models to describe the… read more here.
Keywords: surface vessels; control; design models; control design ... See more keywords
Adaptive immersion and invariance induced optimal robust control of unmanned surface vessels with structured/unstructured uncertainties
Sign Up to like & getrecommendations! Published in 2021 at "Ocean Engineering"
DOI: 10.1016/j.oceaneng.2021.109792
Abstract: Abstract This paper addresses the path-tracking performance improvement of unmanned surface vessels (USVs) through a novel adaptive immersion and invariance (I&I) based robust adaptive control algorithm. The substantial drawback related to the control of USVs… read more here.
Keywords: adaptive immersion; immersion invariance; control; surface vessels ... See more keywords
Terminal sliding-mode disturbance observer-based finite-time adaptive-neural formation control of autonomous surface vessels under output constraints
Sign Up to like & getrecommendations! Published in 2022 at "Robotica"
DOI: 10.1017/s0263574722001266
Abstract: Abstract This paper proposes a tracking controller for the formation construction of multiple autonomous surface vessels (ASVs) in the presence of model uncertainties and external disturbances with output constraints. To design a formation control system,… read more here.
Keywords: finite time; surface; control; autonomous surface ... See more keywords
Robust consensus of autonomous underactuated surface vessels
Sign Up to like & getrecommendations! Published in 2017 at "Iet Control Theory and Applications"
DOI: 10.1049/iet-cta.2016.0930
Abstract: A distributed robust consensus of multiple autonomous underactuated surface vessels (AUSV) is studied in the presence of unknown environmental disturbances. The vehicles have 3 degrees of freedom and two actuators. Since the actuated and unactuated… read more here.
Keywords: autonomous underactuated; consensus; surface vessels; robust consensus ... See more keywords
Tracking Multiple Surface Vessels With an Autonomous Underwater Vehicle: Field Results
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Journal of Oceanic Engineering"
DOI: 10.1109/joe.2020.3015415
Abstract: This paper describes the development and testing of a passive sonar, multi-target tracker, and adaptive behavior that enable an autonomous underwater vehicle (AUV) to detect and actively track nearby surface vessels. A planar hullmounted hydrophone… read more here.
Keywords: multiple surface; surface; surface vessels; autonomous underwater ... See more keywords
MIMO Unmanned Surface Vessels Enabled Maritime Wireless Network Coexisting With Satellite Network: Beamforming and Trajectory Design
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Communications"
DOI: 10.1109/tcomm.2022.3223708
Abstract: Due to the flexible deployment, unmanned surface vessels (USVs) have attracted much interest recently. To solve the resource scarcity problem at sea, USV needs to leverage existing terrestrial and satellite systems for efficient backhaul and… read more here.
Keywords: network; satellite network; surface vessels; trajectory ... See more keywords
Bearing-Only Motional Target-Surrounding Control for Multiple Unmanned Surface Vessels
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2021.3076719
Abstract: This article proposes a distributed bearing-only controller for multiple unmanned surface vessels (USVs) to encircle and rotate evenly around a motional target with inter-USV topologies. The distributed control law consists of three terms, i.e., a… read more here.
Keywords: surface vessels; target surrounding; multiple unmanned; motional target ... See more keywords
Adaptive formation control for autonomous surface vessels with prescribed-time convergence
Sign Up to like & getrecommendations! Published in 2022 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/17298806221105722
Abstract: This article is dedicated to solving the problem of predefined-time cooperative control for autonomous surface vessels encountering model uncertainties and external perturbations. By virtue of the prescribed-time stable theory, a robust formation controller is constructed,… read more here.
Keywords: time; control; autonomous surface; control autonomous ... See more keywords