Adaptive coordinated formation control for multiple surface vessels based on virtual leader
| Autor: | Bin Wang, Yan Qin Ma, Fu Guang Ding |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
Lyapunov function
Engineering Artificial neural network business.industry 020208 electrical & electronic engineering Passivity ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Stability (learning theory) Control engineering 02 engineering and technology 01 natural sciences Synchronization 010305 fluids & plasmas symbols.namesake Control theory 0103 physical sciences 0202 electrical engineering electronic engineering information engineering Trajectory symbols Radial basis function business |
| Zdroj: | 2016 35th Chinese Control Conference (CCC). |
| DOI: | 10.1109/chicc.2016.7554555 |
| Popis: | This paper addresses the problem of coordinated formation control for multiple surface vessels, a distributed adaptive coordinated formation control strategy based on virtual leader is present. Firstly, with the passivity-based techniques, a guided system which gives out desired trajectory signal for follower vessels is designed. Then, considering the uncertainty in mathematical mode of the vessel, a radial basis function(RBF) neural network is used to approach the uncertainty. Meanwhile, a adaptive neural network synchronization controller which control every follower vessel to track desired trajectory with a certain formation is present. After that, the stability of the controller is validated by Lyapunov theory. Finally, the simulation results show the effectiveness of the proposed control method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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