Robust Adaptive Formation Control with Autonomous Surface Vehicles

摘要：

In this paper, a robust adaptive formation control law is proposed for multiple autonomous surface vehicles moving in a leader-follower formation. The presented method uses only measurements of line-of-sight range and angle by local sensors, no other information about leader is required for control implementation. Neural networks are trained online to compensate for uncertainties due to unknown velocity of the leader. Based on Lyapunov synthesis, the proposed adaptive NN control ensures that both relative distance and angle track the given bounded reference signals to a small neighborhood of zero. The effectiveness of proposed formation controller with applications to three autonomous surface vehicles is illustrated by numerical simulations.

关键词： Formation Control Robust Adaptive Control Neural Networks Autonomous Surface Vehicles

作者: PENG Zhouhua WANG Dan YAO Yubin LAN Weiyao LI Xiaoqiang SUN Gang

作者单位: Marine Engineering College, Dalian Maritime University, Dalian 116026, P.R.China Department of Automation, Xiamen University, Xiamen 361005, P.R.China

会议类型: 国际会议

会议名称: The 29th Chinese Control Conference(第二十九届中国控制会议)

会议地点: 北京

会议语种:英文

页码: 1-6

在线出版日期: 2010-07-29（万方平台首次上网日期，不代表论文的发表时间）