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Bioinspired Coordinated Path Following for Vessels with Speed Saturation Based on Virtual Leader
Joint Authors
Source
Computational Intelligence and Neuroscience
Issue
Vol. 2016, Issue 2016 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-03-10
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper investigates the coordinated path following of multiple marine vessels with speed saturation.
Based on virtual leader strategy, the authors show how the neural dynamic model and passivity-based techniques are brought together to yield a distributed control strategy.
The desired path following is achieved by means of a virtual dynamic leader, whose controller is designed based on the biological neural shunting model.
Utilizing the characteristic of bounded and smooth output of neural dynamic model, the tracking error jump is avoided and speed saturation problem is solved in straight path.
Meanwhile, the coordinated path following of multiple vessels with a desired spatial formation is achieved through defining the formation reference point.
The consensus of formation reference point is realized by using the synchronization controller based on passivity.
Finally, simulation results validate the effectiveness of the proposed coordinated algorithm.
American Psychological Association (APA)
Fu, Mingyu& Xu, Yujie. 2016. Bioinspired Coordinated Path Following for Vessels with Speed Saturation Based on Virtual Leader. Computational Intelligence and Neuroscience،Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1099718
Modern Language Association (MLA)
Fu, Mingyu& Xu, Yujie. Bioinspired Coordinated Path Following for Vessels with Speed Saturation Based on Virtual Leader. Computational Intelligence and Neuroscience Vol. 2016, no. 2016 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1099718
American Medical Association (AMA)
Fu, Mingyu& Xu, Yujie. Bioinspired Coordinated Path Following for Vessels with Speed Saturation Based on Virtual Leader. Computational Intelligence and Neuroscience. 2016. Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1099718
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1099718