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Publications
Zhang, HG., Zhang, Xk., Xu. H.T. and Guedes Soares, C. (2024), Heterogeneous cooperative trajectory tracking control between surface and underwater unmanned vehicles, Ocean Engineering, Vol. 301, 117137
An innovative cooperative formation control method is designed for a heterogeneous team consisting of a surface unmanned vessel serving as the leader vehicle and two underwater unmanned vehicles acting as follower vehicles. The team is designed to work together to accomplish underwater exploration missions. The proposed system consists of a guidance loop and a control loop. In the guidance loop, a novel cooperative guidance method between a surface and two underwater unmanned vessels is introduced by constructing a path deviation based on vertical line constructs, aiming to facilitate seabed exploration. In the control loop, an iterative sliding mode controller is designed to mitigate chattering issues caused by switching system structures. Meanwhile, an optimization function is employed to optimize control inputs, addressing control input constraints, and reducing control input chattering. The external disturbances and unmodeled dynamics are estimated using a linear extended state observer, and the results are used for the controller design. Finally, simulation tests are carried out to validate the effectiveness of the proposed control system.
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