Paper Info
Title
Cooperative Path Following Ring-Networked Under-Actuated Autonomous Surface Vehicles: Algorithms and Experimental Results.
Abstract
This paper addresses the cooperative path following the problem of ring-networked under-actuated autonomous surface vehicles on a closed curve. A cooperative guidance law is proposed at the kinematic level such that a symmetric formation pattern is achieved. Specifically, individual guidance laws of surge speed and angular rate are developed by using a backstepping technique and a line-of-sight guidance method. Then, a coordination design is proposed to update the path variables under a ring-networked topology. The equilibrium point of the closed-loop system has been proven to be globally asymptotically stable. The result is extended to the cooperative path following the lack of sharing of a global reference velocity, and a distributed observer is designed to recover the reference velocity to each vehicle. Moreover, the cooperative path following the presence of an unknown sideslip is considered, and an extended state observer is developed to compensate for the effect of the unknown sideslip. Both simulation and experimental results are provided to illustrate the effectiveness of the proposed cooperative guidance law for the path following over a closed curve.
Year
DOI
Venue
2020
10.1109/TCYB.2018.2883335
IEEE transactions on cybernetics
Keywords
Field
DocType
Observers,Kinematics,Surges,Topology,Technological innovation,Cybernetics,Closed loop systems
State observer,Mathematical optimization,Backstepping,Kinematics,Control theory,Equilibrium point,Path following,Slip (aerodynamics),Observer (quantum physics),Mathematics,Stability theory
Journal
Volume
Issue
ISSN
50
4
2168-2267
Citations 
PageRank 
References 
13
0.47
24
Authors
5
Name
Order
Citations
PageRank
Lu Liu1768.42
Dan Wang271438.64
Zhouhua Peng364536.02
Tieshan Li4172381.13
C. L. Philip Chen54022244.76