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Group of Marine Dynamics and Hydrodynamics > 2.3 Ship Manoeuvring and Control > Publications
Zhang, HG., Zhang, XK., Xu, H.T. and Guedes Soares, C. (2025), Cooperative path following control of USV-UAVs with genetic algorithm extended state observer, Ocean Engineering, Vol. 320, 120332.
This work investigates an innovative decentralized formation control method for underactuated surface vessel (USV) and underactuated aerial vehicles (UAVs) to achieve path following in the presence of external disturbances . The design of the USV-UAVs cooperative path following controller is mainly
divided into two parts. The first part is the guidance system,which employs a line of sight (LOS) based on a switching mechanism for selecting the next way point to steer the unmanned surface vehicle (USV) in path following, thereby mitigating overshooting at turning points. For UAVs, the virtual attitude angles are designed to guide UAVs in tracking the USV’s trajectory. The second part is the control system, which uses sliding mode to design a controller to enable the USV-UAVs to track the reference path. An extended state observer, genetic algorithm-based extended state observer (GAESO), is proposed to estimate unmodeled dynamics and external disturbances. The stability proof of both the USVs and UAVs is presented using the Lyapunov theorem. Finally, the simulation tests are carried out to validate the proposed system and control methods in the presence of environmental disturbance.
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