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Neural Adaptive Command Filtered Control for Cooperative Path Following of Multiple Underactuated Autonomous Underwater Vehicles Along One Path
Wang, Hao1; Tian Y(田宇)2; Xu HL(徐红丽)1,3
Department海洋机器人前沿技术中心
Source PublicationIEEE Transactions on Systems, Man, and Cybernetics: Systems
ISSN2168-2216
2021
Pages1-13
Indexed ByEI
EI Accession number20211210102943
Contribution Rank2
Funding OrganizationNational Natural Science Foundation of China under Grant 51809256 and Grant U1709202 ; National Key Research and Development Program of China under Grant 2016YFC0300801 and Grant 2019YFC1408502 ; Youth Innovation Promotion Association CAS under Grant E0290702 ; Liaoning Provincial Natural Science Foundation of China under Grant 2020-MS-031
KeywordAutonomous underwater vehicles (AUVs) cooperative path following neural networks (NNs) uncertainties
Abstract

The aim of this article is to develop a new cooperative path following control scheme for a team of autonomous underwater vehicles (AUVs) which track one curve with nonlinear uncertainties. Individual path-following controllers are designed to guarantee that each AUV meets the desired tracking performance. For the cooperative path following, a containment control approach is incorporated into the design, where each AUV is forced to evenly disperse on a path that is parameterized by a continuous variable over a communication network. The main features of the paper that unlike the existing designs are that: first, by employing the command filtered control technique, the assumption of second-order derivative of the reference path is removed. Second, a globally uniformly ultimately bounded (GUUB) path following control structure is proposed that enables two kinds of controllers to switch under different cases. Third, coordination between multiple AUVs is achieved through a containment design, and a path variable containment cooperative path following controller is derived that enables multiple AUVs to be evenly dispersed and guided by the virtual leaders. Finally, the stability analysis and simulation example are given to verify the proposed control strategy.

Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/28633
Collection海洋机器人前沿技术中心
Corresponding AuthorTian Y(田宇)
Affiliation1.Faculty of Robot Science and Engineering, Northeastern University, Shenyang 110819, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.Research Center for Robotics, Peng Cheng Laboratory, Shenzhen 518055, China.
Recommended Citation
GB/T 7714
Wang, Hao,Tian Y,Xu HL. Neural Adaptive Command Filtered Control for Cooperative Path Following of Multiple Underactuated Autonomous Underwater Vehicles Along One Path[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,2021:1-13.
APA Wang, Hao,Tian Y,&Xu HL.(2021).Neural Adaptive Command Filtered Control for Cooperative Path Following of Multiple Underactuated Autonomous Underwater Vehicles Along One Path.IEEE Transactions on Systems, Man, and Cybernetics: Systems,1-13.
MLA Wang, Hao,et al."Neural Adaptive Command Filtered Control for Cooperative Path Following of Multiple Underactuated Autonomous Underwater Vehicles Along One Path".IEEE Transactions on Systems, Man, and Cybernetics: Systems (2021):1-13.
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