- Title
- Collective dynamics and control for multiple unmanned surface vessels
- Creator
- Liu, Bin; Chen, Zhiyong; Zhang, Hai-Tao; Wang, Xudong; Geng, Tao; Su, Housheng; Zhao, Jin
- Relation
- IEEE Transactions on Control Systems Technology Vol. 28, Issue 6, p. 2540-2547
- Publisher Link
- http://dx.doi.org/10.1109/TCST.2019.2931524
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- journal article
- Date
- 2020
- Description
- A multi-unmanned surface vessel (USV) formation control system is established on a novel platform composed of three 1.2-m-long hydraulic jet propulsion surface vessels, a differential GPS reference station, and inter-vessel Zigbee communication modules. The system is also equipped with an upper level collective multi-USV protocol and a lower level vessel dynamics controller. The system is capable of chasing and surrounding a target vessel. The results are supported by rigorous theoretical analysis in terms of asymptotical surrounding behavior and trajectory regulation. Extensive experiments are conducted to demonstrate the effectiveness and efficiency of the proposed hardware and software architectures.
- Subject
- collective control; multi-agent systems (MASs); regulation; underactuated control; unmanned surface vessels (USVs)
- Identifier
- http://hdl.handle.net/1959.13/1430364
- Identifier
- uon:38831
- Identifier
- ISSN:1063-6536
- Language
- eng
- Full Text
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