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Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking.
Zefang Li1, Zhong Liu1, Jianqiang Zhang1
1College of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China.
Sensors (Basel, Switzerland)
|February 12, 2020
Summary
This study presents a decentralized control method for multiple unmanned surface vehicles (USVs) to achieve coordinated path tracking. The approach ensures stable formation control and accurate path following for individual and groups of USVs.
Area of Science:
- Robotics and Control Systems
- Marine Engineering
- Networked Systems
Background:
- Path tracking control for under-actuated unmanned surface vehicles (USVs) is challenging due to their complex dynamics.
- Decentralized control strategies are crucial for enabling coordinated behaviors in multi-USV systems.
- Existing methods often struggle with achieving precise formation and velocity synchronization in dynamic environments.
Purpose of the Study:
- To develop a robust decentralized control framework for multi-USV path tracking.
- To enable individual USV path following and coordinated formation control simultaneously.
- To ensure the stability and effectiveness of the proposed control algorithms through theoretical analysis and experimental validation.
Main Methods:
- An improved integral line-of-sight guidance strategy combined with feedback control for single USV path tracking.
- Graph theory applied to design a decentralized velocity coordination controller for USV formations.
- Cascade system theory and Lyapunov stability analysis to rigorously prove system stability.
Main Results:
- Successful implementation of path tracking for single USVs in the horizontal plane.
- Achieved consistent formation and velocity synchronization for multiple USVs along a specified path.
- Theoretical proofs confirmed uniform semi-global exponential stability for single USV control and global asymptotic/uniform local exponential stability for formation control.
Conclusions:
- The proposed decentralized control strategy effectively addresses multi-USV path tracking and formation control.
- Simulation and field experiments validate the advancement and effectiveness of the developed algorithms.
- This research contributes a reliable method for coordinated autonomous navigation of USV fleets.
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