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Guiding vector field and self-structuring learning network-based formation control of underactuated surface vessels
Xiuying Huang1, Haitao Liu2, Xuehong Tian2
1Shenzhen Institute of Guangdong Ocean University, Shenzhen 518120, China; School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang 524088, China.
ISA Transactions
|August 6, 2024
Summary
A novel model-free formation control strategy guides underactuated surface vessels (USVs) around static obstacles. This approach ensures collision avoidance and robust performance despite uncertainties and disturbances, optimizing controller structure autonomously.
Area of Science:
- Robotics and Control Systems
- Marine Engineering
Background:
- Underactuated Surface Vessels (USVs) face challenges in formation control due to model uncertainties and external disturbances.
- Static obstacle environments pose risks of collision and control singularities.
Purpose of the Study:
- To develop a model-free formation control strategy for USVs in static obstacle environments.
- To enhance robustness against model uncertainties and time-varying external disturbances.
- To achieve autonomous optimization of controller structure and reduce computational load.
Main Methods:
- A composite Guiding Vector Field (GVF) for navigation and obstacle avoidance.
- A flexible constraint strategy to mitigate singularities.
- Self-structuring Fuzzy Mexican Hat Wavelet controllers (SCMAC and SBELC) for model-free control.
- Embedded self-structuring algorithms for autonomous controller optimization.
Main Results:
- Effective guidance of USV formation to desired positions while avoiding static obstacles.
- Demonstrated collision avoidance and robust control performance under disturbances.
- Autonomous construction of controller structure via self-structuring algorithms.
- Boundedness of control system signals verified through simulations.
Conclusions:
- The proposed model-free formation control strategy is feasible and superior for USVs.
- Accurate model information is not required, simplifying implementation.
- The strategy ensures safe navigation and reliable performance in complex environments.
