Distributed Consensus Control of Multi-USV Systems

被引：3
|
作者：
Liu, Bin
Zhang, Hai-Tao [1 ]
Wu, Yue
Hu, Binbin
机构：
[1] Huazhong Univ Sci & Technol, Sch Automat, Wuhan 430074, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT I | 2017年 / 10462卷
关键词：
Unmanned surface vehicle; Multi-agent system; Consensus; Feedback linearization; AGENTS;
D O I：
10.1007/978-3-319-65289-4_59
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a distributed consensus control scheme of unmanned surface vehicle (USV) to achieve speed and orientation consensus with the connected communication topology. To deal with the features including nonlinear, coupling and underactuation, the feedback linearization method is used when design the consensus control. Furthermore, the Lyapunov theory is used to proof the stability of the multi-USV systems. Finally, numerical simulation demonstrates the effectiveness of the distributed consensus control.
引用
收藏
页码：628 / 635
页数：8
相关论文
共 50 条
  • [1] Cascade-Based Control for Distributed Consensus Tracking of Multi-USV Systems under Sampled-Data Interaction
    Hu, Jin-Bo
    Liu, Zhi-Wei
    Ge, Ming-Feng
    [J]. 2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER), 2018, : 1018 - 1023
  • [2] A Method of Multi-USV Reward Design Using Fuzzy Control
    Xiao, Jianfeng
    Liu, Qun
    Huang, Xin
    [J]. ROUGH SETS, PT I, IJCRS 2024, 2024, 14839 : 300 - 313
  • [3] Research on Multi-USV Cooperative Search Method
    Lin, Xiaogong
    Liu, Yeye
    [J]. 2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), 2019, : 2012 - 2018
  • [4] Adaptive coverage control for multi-USV system in complex environment with unknown obstacles
    Yao, Yao
    Cao, Jun-Hua
    Guo, Yi
    Fan, Zhun
    Li, Bing
    Xu, Biao
    Li, Ke
    [J]. INTERNATIONAL JOURNAL OF DISTRIBUTED SENSOR NETWORKS, 2021, 17 (06)
  • [5] Optimal Position and Velocity Estimation for Multi-USV Positioning Systems with Range Measurements
    Chen, Wei
    Sun, Ruisheng
    Yan, Weisheng
    [J]. COMPLEXITY, 2018,
  • [6] A NOVEL COLLISION AVOIDANCE STRATEGY FOR MULTI-USV FORMATION USING STREAM FUNCTIONS AND CONSENSUS ALGORITHMS
    Xu, Wei
    Cao, Ning
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2021, 36 (06): : 402 - 415
  • [7] Leader-follower control and APF for Multi-USV coordination and obstacle avoidance
    Yuan, Peiyin
    Zhang, Zhe
    Li, Yuan
    Cui, Jun
    [J]. Ocean Engineering, 2024, 313
  • [8] Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme
    Xue, Kai
    Wu, Tingyi
    [J]. JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2021, 9 (11)
  • [9] Design of the Mechanism for the Multi-USV Launch and Recovery System
    Li, Guang
    Yang, Yi
    Li, ChunXin
    Qiu, BingJie
    [J]. 2023 IEEE 2ND INDUSTRIAL ELECTRONICS SOCIETY ANNUAL ON-LINE CONFERENCE, ONCON, 2023,
  • [10] A multi-USV Formation Control Method Based on BP Neural Network PID Controller
    Li, Ke
    Xie, Songbo
    Zhang, Xianxia
    Zhou, Gang
    [J]. 2024 4TH INTERNATIONAL CONFERENCE ON COMPUTER, CONTROL AND ROBOTICS, ICCCR 2024, 2024, : 191 - 195
12345