Data-driven coordinated path-following of multiple marine surface vehicles with input saturations
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View abstract on PubMed
Summary
This summary is machine-generated.This study introduces a novel control approach for multiple marine surface vehicles (MSVs) to follow paths precisely in challenging waterways, ensuring coordinated movement despite disturbances and constraints.
Area Of Science
- Robotics
- Marine Engineering
- Control Systems
Background
- Coordinated path-following for multiple marine surface vehicles (MSVs) is complex in narrow waterways.
- External disturbances, system uncertainties, and input constraints pose significant challenges.
Purpose Of The Study
- To develop an innovative coordinated surge-heading guidance-based direct data-driven constrained control (CSH-DDCC) approach.
- To ensure accurate path tracking and coordination among multiple MSVs.
- To address model-unavailable deficiencies and input constraints.
Main Methods
- A line-of-sight (LOS) based path parameter updating law and a discrete reduced-order extended state observer (RESO) for dynamics estimation.
- A coordinated surge-heading (CSH) guidance law for asymptotic tracking and vehicle coordination.
- A direct data-driven constrained control (DDCC) law with dynamic anti-windup compensation.
Main Results
- The CSH guidance law ensures asymptotic path tracking and inter-vehicle coordination.
- The DDCC law effectively handles model uncertainties and input constraints.
- Lyapunov synthesis guarantees asymptotically coordinated path-following for the closed-loop system.
Conclusions
- The proposed CSH-DDCC approach is efficient for coordinated path-following of MSVs.
- Simulation studies confirm the effectiveness of the developed control strategy in realistic scenarios.
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