Cooperative Path Following Ring-Networked Under-Actuated Autonomous Surface Vehicles: Algorithms and Experimental Results
Cooperative Path Following Ring-Networked Under-Actuated Autonomous Surface Vehicles: Algorithms and Experimental Results
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DOI：
10.1109/tcyb.2018.2883335
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发表时间：
2020-04-01
影响因子：
11.8
通讯作者：
Chen, C. L. Philip
中科院分区：
文献类型：
--
作者：
Liu, Lu;Wang, Dan;Chen, C. L. Philip
研究了环网欠驱动自主水面航行器在封闭曲线上的协作路径跟踪问题。提出了一种在运动学层次上的协同制导律，使得编队的方向图具有对称性。具体而言，个人的指导法律的浪涌速度和角速率的发展，通过使用反推技术和视线制导方法。然后，提出了一种协调设计，以更新环网络拓扑结构下的路径变量。证明了闭环系统的平衡点是全局渐近稳定的。将该结果推广到全局参考速度不共享的协作路径，并设计了分布式观测器来恢复各车辆的参考速度。此外，合作路径的存在下，一个未知的侧滑，和扩张状态观测器的发展，以补偿未知侧滑的影响。仿真和实验结果表明，所提出的合作制导律的有效性的路径跟踪过一个封闭的曲线。
This paper addresses the cooperative path following the problem of ring-networked under-actuated autonomous surface vehicles on a closed curve. A cooperative guidance law is proposed at the kinematic level such that a symmetric formation pattern is achieved. Specifically, individual guidance laws of surge speed and angular rate are developed by using a backstepping technique and a line-of-sight guidance method. Then, a coordination design is proposed to update the path variables under a ring-networked topology. The equilibrium point of the closed-loop system has been proven to be globally asymptotically stable. The result is extended to the cooperative path following the lack of sharing of a global reference velocity, and a distributed observer is designed to recover the reference velocity to each vehicle. Moreover, the cooperative path following the presence of an unknown sideslip is considered, and an extended state observer is developed to compensate for the effect of the unknown sideslip. Both simulation and experimental results are provided to illustrate the effectiveness of the proposed cooperative guidance law for the path following over a closed curve.