Adaptive Platoon Control for Marine Surface Vehicles in the Presence of Constraints
Joint Authors
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-05
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper presents the platoon formation control design for unmanned surface vehicles with input and output constraints.
First, Barrier Lyapunov Function (BLF) is employed to ensure the desired line-of-sight (LOS) range.
The LOS range should be maintained within the predefined regions between each marine vehicle and its predecessor while the connected platoons track the trajectory.
Next, to handle the model uncertainties and unknown external disturbance, we propose an adaptive neural network controller that approximates the unknown nonlinearities.
Furthermore, the Nussbaum function is applied to compensate for input saturations.
In addition, formation errors can be guaranteed by stability analysis.
The distance between two consecutive agents does not violate collision avoidance and connectivity in the presence of input saturation.
Finally, the feasibility of the theoretical results is illustrated through the simulation results.
American Psychological Association (APA)
Liang, Xiaoling& Wang, Duansong. 2020. Adaptive Platoon Control for Marine Surface Vehicles in the Presence of Constraints. Complexity،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1141233
Modern Language Association (MLA)
Liang, Xiaoling& Wang, Duansong. Adaptive Platoon Control for Marine Surface Vehicles in the Presence of Constraints. Complexity No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1141233
American Medical Association (AMA)
Liang, Xiaoling& Wang, Duansong. Adaptive Platoon Control for Marine Surface Vehicles in the Presence of Constraints. Complexity. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1141233
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1141233