A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles

This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with dist...
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Autor*in:	Xiao Liang [verfasserIn] Xingru Qu [verfasserIn] Ning Wang [verfasserIn] Ye Li [verfasserIn] Rubo Zhang [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2019

Schlagwörter:	Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode

Übergeordnetes Werk:	In: IEEE Access - IEEE, 2014, 7(2019), Seite 112703-112712
Übergeordnetes Werk:	volume:7 ; year:2019 ; pages:112703-112712

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.1109/ACCESS.2019.2934190

Katalog-ID:	DOAJ033508259

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allfields	10.1109/ACCESS.2019.2934190 doi (DE-627)DOAJ033508259 (DE-599)DOAJe9081a1a15714c7f86a5fe3554139547 DE-627 ger DE-627 rakwb eng TK1-9971 Xiao Liang verfasserin aut A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode Electrical engineering. Electronics. Nuclear engineering Xingru Qu verfasserin aut Ning Wang verfasserin aut Ye Li verfasserin aut Rubo Zhang verfasserin aut In IEEE Access IEEE, 2014 7(2019), Seite 112703-112712 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:7 year:2019 pages:112703-112712 https://doi.org/10.1109/ACCESS.2019.2934190 kostenfrei https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547 kostenfrei https://ieeexplore.ieee.org/document/8793071/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 7 2019 112703-112712
spelling	10.1109/ACCESS.2019.2934190 doi (DE-627)DOAJ033508259 (DE-599)DOAJe9081a1a15714c7f86a5fe3554139547 DE-627 ger DE-627 rakwb eng TK1-9971 Xiao Liang verfasserin aut A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode Electrical engineering. Electronics. Nuclear engineering Xingru Qu verfasserin aut Ning Wang verfasserin aut Ye Li verfasserin aut Rubo Zhang verfasserin aut In IEEE Access IEEE, 2014 7(2019), Seite 112703-112712 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:7 year:2019 pages:112703-112712 https://doi.org/10.1109/ACCESS.2019.2934190 kostenfrei https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547 kostenfrei https://ieeexplore.ieee.org/document/8793071/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 7 2019 112703-112712
allfields_unstemmed	10.1109/ACCESS.2019.2934190 doi (DE-627)DOAJ033508259 (DE-599)DOAJe9081a1a15714c7f86a5fe3554139547 DE-627 ger DE-627 rakwb eng TK1-9971 Xiao Liang verfasserin aut A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode Electrical engineering. Electronics. Nuclear engineering Xingru Qu verfasserin aut Ning Wang verfasserin aut Ye Li verfasserin aut Rubo Zhang verfasserin aut In IEEE Access IEEE, 2014 7(2019), Seite 112703-112712 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:7 year:2019 pages:112703-112712 https://doi.org/10.1109/ACCESS.2019.2934190 kostenfrei https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547 kostenfrei https://ieeexplore.ieee.org/document/8793071/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 7 2019 112703-112712
allfieldsGer	10.1109/ACCESS.2019.2934190 doi (DE-627)DOAJ033508259 (DE-599)DOAJe9081a1a15714c7f86a5fe3554139547 DE-627 ger DE-627 rakwb eng TK1-9971 Xiao Liang verfasserin aut A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode Electrical engineering. Electronics. Nuclear engineering Xingru Qu verfasserin aut Ning Wang verfasserin aut Ye Li verfasserin aut Rubo Zhang verfasserin aut In IEEE Access IEEE, 2014 7(2019), Seite 112703-112712 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:7 year:2019 pages:112703-112712 https://doi.org/10.1109/ACCESS.2019.2934190 kostenfrei https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547 kostenfrei https://ieeexplore.ieee.org/document/8793071/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 7 2019 112703-112712
allfieldsSound	10.1109/ACCESS.2019.2934190 doi (DE-627)DOAJ033508259 (DE-599)DOAJe9081a1a15714c7f86a5fe3554139547 DE-627 ger DE-627 rakwb eng TK1-9971 Xiao Liang verfasserin aut A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode Electrical engineering. Electronics. Nuclear engineering Xingru Qu verfasserin aut Ning Wang verfasserin aut Ye Li verfasserin aut Rubo Zhang verfasserin aut In IEEE Access IEEE, 2014 7(2019), Seite 112703-112712 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:7 year:2019 pages:112703-112712 https://doi.org/10.1109/ACCESS.2019.2934190 kostenfrei https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547 kostenfrei https://ieeexplore.ieee.org/document/8793071/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 7 2019 112703-112712
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source	In IEEE Access 7(2019), Seite 112703-112712 volume:7 year:2019 pages:112703-112712
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topic_facet	Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode Electrical engineering. Electronics. Nuclear engineering
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authorswithroles_txt_mv	Xiao Liang @@aut@@ Xingru Qu @@aut@@ Ning Wang @@aut@@ Ye Li @@aut@@ Rubo Zhang @@aut@@
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callnumber-first	T - Technology
author	Xiao Liang
spellingShingle	Xiao Liang misc TK1-9971 misc Unmanned marine vehicles misc swarm control misc velocity observer misc center-of-swarm guidance misc fuzzy sliding mode misc Electrical engineering. Electronics. Nuclear engineering A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles
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topic_title	TK1-9971 A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode
topic	misc TK1-9971 misc Unmanned marine vehicles misc swarm control misc velocity observer misc center-of-swarm guidance misc fuzzy sliding mode misc Electrical engineering. Electronics. Nuclear engineering
topic_unstemmed	misc TK1-9971 misc Unmanned marine vehicles misc swarm control misc velocity observer misc center-of-swarm guidance misc fuzzy sliding mode misc Electrical engineering. Electronics. Nuclear engineering
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title	A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles
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title_auth	A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles
abstract	This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework.
abstractGer	This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework.
abstract_unstemmed	This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework.
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title_short	A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles
url	https://doi.org/10.1109/ACCESS.2019.2934190 https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547 https://ieeexplore.ieee.org/document/8793071/ https://doaj.org/toc/2169-3536
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