文章基本信息

标题：Swarm Control for Connectivity-Preserving and Collision-Avoiding Unmanned Surface Vehicles Subject to Multiple Constraints
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作者：Guoqing Xia ; Xianxin Sun ; Xiaoming Xia 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2022
卷号：10
期号：1
页码：827
DOI：10.3390/jmse10060827
语种：English
出版社：MDPI AG
摘要：This paper investigates swarm control for unmanned surface vessels subject to multiple constraints. These constraints can be summarized as model parameter uncertainty, the unavailability of velocity measurements, time-varying environmental disturbances, input saturation and output constraints. Firstly, to recover unmeasured velocity information, to identify unknown vehicle dynamics and to estimate time-varying environmental disturbances, a neural adaptive state observer is designed for each vessel. Secondly, to avoid complex calculations, a second-order linear tracking differentiator is employed to generate a smooth reference signal and to extract the time derivative of the kinematic control law. Thirdly, to solve the input saturation, an auxiliary dynamic system is introduced. Fourthly, the barrier Lyapunov function is used to achieve connectivity preservation, collision avoidance and swarm control. Meanwhile, by using the estimated velocities of vessels, an output feedback controller is designed. The stability of the closed-loop system is proved. The simulation results show the effectiveness of the proposed swarm control strategy.