Synchronous Control Method of Multiple Under-actuated USVs based on Leader-Follower Mode

This paper proposes a distributed control multi-USVs(Unmanned Surface Vessel) method based on the leader-follower model, considering the effect of constant unknown interference on each USV. At the same time, since we considered that the leader can be virtual or real, the method can be used for single USV control based on the leader-follower mode, and also for formation control of one leader and N followers. Furthermore, we assume that the leader will influence the behavior of all the followers, through consensus between followers, but can communicate only with a subset of the followers. The method performs global asymptotic synchronization by controlling the output of each follower and the output of the leader, while rejecting the influence of interference to achieve the control objective. In order to verify the theoretical results, a simulation experiment was carried out at the end of the paper.

[1]  Thor I. Fossen,et al.  Handbook of Marine Craft Hydrodynamics and Motion Control: Fossen/Handbook of Marine Craft Hydrodynamics and Motion Control , 2011 .

[2]  Frank L. Lewis,et al.  Cooperative Control of Multi-Agent Systems: Optimal and Adaptive Design Approaches , 2013 .

[3]  Frank L. Lewis,et al.  Optimal Design for Synchronization of Cooperative Systems: State Feedback, Observer and Output Feedback , 2011, IEEE Transactions on Automatic Control.

[4]  Kristin Y. Pettersen,et al.  Global -exponential way-point manoeuvering of ships , 2004 .

[5]  Hassan K. Khalil,et al.  Robust output feedback regulation of minimum-phase nonlinear systems using conditional integrators , 2005, Autom..

[6]  S. Sastry,et al.  Autonomous Exploration in Unknown Urban Environments for Unmanned Aerial Vehicles , 2005 .

[7]  Lin Huang,et al.  Consensus of Multiagent Systems and Synchronization of Complex Networks: A Unified Viewpoint , 2016, IEEE Transactions on Circuits and Systems I: Regular Papers.

[8]  Kristin Y. Pettersen,et al.  Conditional Integrators for Path Following and Formation Control of Marine Vessels under Constant Disturbances , 2009 .

[9]  Zhengtao Ding,et al.  Consensus Disturbance Rejection With Disturbance Observers , 2015, IEEE Transactions on Industrial Electronics.

[10]  Kuo-Ho Su,et al.  Dynamic path planning under randomly distributed obstacle environment , 2014, 2014 CACS International Automatic Control Conference (CACS 2014).

[11]  Frank Allgöwer,et al.  Output synchronization of linear multi-agent systems under constant disturbances via distributed integral action , 2015, 2015 American Control Conference (ACC).

[12]  Thor I. Fossen,et al.  Handbook of Marine Craft Hydrodynamics and Motion Control , 2011 .

[13]  Kristin Ytterstad Pettersen,et al.  Trajectory tracking of under-actuated marine vehicles , 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

[14]  Karl Henrik Johansson,et al.  Distributed Control of Networked Dynamical Systems: Static Feedback, Integral Action and Consensus , 2013, IEEE Transactions on Automatic Control.