Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations

In this paper, a formation tracking problem with collision avoidance is investigated for underactuated surface vehicles (USVs) with actuator magnitude and rate saturations. The USVs are subject to model uncertainties and external disturbances. A nonlinear extended state observer (NESO) is used to re...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Xia, Guoqing [verfasserIn] Xia, Xiaoming [verfasserIn] Zheng, Zhi [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2022

Schlagwörter:	Underactuated surface vehicles Collision avoidance Actuator magnitude and rate saturations Artificial potential functions

Übergeordnetes Werk:	Enthalten in: Ocean engineering - Amsterdam [u.a.] : Elsevier Science, 1970, 260
Übergeordnetes Werk:	volume:260

DOI / URN:	10.1016/j.oceaneng.2022.111935

Katalog-ID:	ELV008426341

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245	1	0	\|a Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations
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520			\|a In this paper, a formation tracking problem with collision avoidance is investigated for underactuated surface vehicles (USVs) with actuator magnitude and rate saturations. The USVs are subject to model uncertainties and external disturbances. A nonlinear extended state observer (NESO) is used to recover the linear velocity and yaw rate as well as unknown uncertainties and disturbances. A distributed control law is designed by artificial potential functions (APFs), the NESO and a backstepping technique. The APFs combined with a strategy are employed to achieve collision avoidance. Additional controllers are employed to deal with the underactuated problem, actuator magnitude and rate saturations. The stability of formation control system and simulation results are performed to illustrate the effectiveness of the proposed strategy.
650		4	\|a Underactuated surface vehicles
650		4	\|a Collision avoidance
650		4	\|a Actuator magnitude and rate saturations
650		4	\|a Artificial potential functions
700	1		\|a Xia, Xiaoming \|e verfasserin \|0 (orcid)0000-0002-3993-5028 \|4 aut
700	1		\|a Zheng, Zhi \|e verfasserin \|4 aut
773	0	8	\|i Enthalten in \|t Ocean engineering \|d Amsterdam [u.a.] : Elsevier Science, 1970 \|g 260 \|h Online-Ressource \|w (DE-627)30658977X \|w (DE-600)1498543-3 \|w (DE-576)259484164 \|x 0029-8018 \|7 nnns
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author_variant	g x gx x x xx z z zz
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allfields	10.1016/j.oceaneng.2022.111935 doi (DE-627)ELV008426341 (ELSEVIER)S0029-8018(22)01271-9 DE-627 ger DE-627 rda eng 690 DE-600 50.92 bkl Xia, Guoqing verfasserin aut Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, a formation tracking problem with collision avoidance is investigated for underactuated surface vehicles (USVs) with actuator magnitude and rate saturations. The USVs are subject to model uncertainties and external disturbances. A nonlinear extended state observer (NESO) is used to recover the linear velocity and yaw rate as well as unknown uncertainties and disturbances. A distributed control law is designed by artificial potential functions (APFs), the NESO and a backstepping technique. The APFs combined with a strategy are employed to achieve collision avoidance. Additional controllers are employed to deal with the underactuated problem, actuator magnitude and rate saturations. The stability of formation control system and simulation results are performed to illustrate the effectiveness of the proposed strategy. Underactuated surface vehicles Collision avoidance Actuator magnitude and rate saturations Artificial potential functions Xia, Xiaoming verfasserin (orcid)0000-0002-3993-5028 aut Zheng, Zhi verfasserin aut Enthalten in Ocean engineering Amsterdam [u.a.] : Elsevier Science, 1970 260 Online-Ressource (DE-627)30658977X (DE-600)1498543-3 (DE-576)259484164 0029-8018 nnns volume:260 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 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_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 50.92 Meerestechnik AR 260
spelling	10.1016/j.oceaneng.2022.111935 doi (DE-627)ELV008426341 (ELSEVIER)S0029-8018(22)01271-9 DE-627 ger DE-627 rda eng 690 DE-600 50.92 bkl Xia, Guoqing verfasserin aut Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, a formation tracking problem with collision avoidance is investigated for underactuated surface vehicles (USVs) with actuator magnitude and rate saturations. The USVs are subject to model uncertainties and external disturbances. A nonlinear extended state observer (NESO) is used to recover the linear velocity and yaw rate as well as unknown uncertainties and disturbances. A distributed control law is designed by artificial potential functions (APFs), the NESO and a backstepping technique. The APFs combined with a strategy are employed to achieve collision avoidance. Additional controllers are employed to deal with the underactuated problem, actuator magnitude and rate saturations. The stability of formation control system and simulation results are performed to illustrate the effectiveness of the proposed strategy. Underactuated surface vehicles Collision avoidance Actuator magnitude and rate saturations Artificial potential functions Xia, Xiaoming verfasserin (orcid)0000-0002-3993-5028 aut Zheng, Zhi verfasserin aut Enthalten in Ocean engineering Amsterdam [u.a.] : Elsevier Science, 1970 260 Online-Ressource (DE-627)30658977X (DE-600)1498543-3 (DE-576)259484164 0029-8018 nnns volume:260 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 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_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 50.92 Meerestechnik AR 260
allfields_unstemmed	10.1016/j.oceaneng.2022.111935 doi (DE-627)ELV008426341 (ELSEVIER)S0029-8018(22)01271-9 DE-627 ger DE-627 rda eng 690 DE-600 50.92 bkl Xia, Guoqing verfasserin aut Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, a formation tracking problem with collision avoidance is investigated for underactuated surface vehicles (USVs) with actuator magnitude and rate saturations. The USVs are subject to model uncertainties and external disturbances. A nonlinear extended state observer (NESO) is used to recover the linear velocity and yaw rate as well as unknown uncertainties and disturbances. A distributed control law is designed by artificial potential functions (APFs), the NESO and a backstepping technique. The APFs combined with a strategy are employed to achieve collision avoidance. Additional controllers are employed to deal with the underactuated problem, actuator magnitude and rate saturations. The stability of formation control system and simulation results are performed to illustrate the effectiveness of the proposed strategy. Underactuated surface vehicles Collision avoidance Actuator magnitude and rate saturations Artificial potential functions Xia, Xiaoming verfasserin (orcid)0000-0002-3993-5028 aut Zheng, Zhi verfasserin aut Enthalten in Ocean engineering Amsterdam [u.a.] : Elsevier Science, 1970 260 Online-Ressource (DE-627)30658977X (DE-600)1498543-3 (DE-576)259484164 0029-8018 nnns volume:260 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 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_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 50.92 Meerestechnik AR 260
allfieldsGer	10.1016/j.oceaneng.2022.111935 doi (DE-627)ELV008426341 (ELSEVIER)S0029-8018(22)01271-9 DE-627 ger DE-627 rda eng 690 DE-600 50.92 bkl Xia, Guoqing verfasserin aut Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, a formation tracking problem with collision avoidance is investigated for underactuated surface vehicles (USVs) with actuator magnitude and rate saturations. The USVs are subject to model uncertainties and external disturbances. A nonlinear extended state observer (NESO) is used to recover the linear velocity and yaw rate as well as unknown uncertainties and disturbances. A distributed control law is designed by artificial potential functions (APFs), the NESO and a backstepping technique. The APFs combined with a strategy are employed to achieve collision avoidance. Additional controllers are employed to deal with the underactuated problem, actuator magnitude and rate saturations. The stability of formation control system and simulation results are performed to illustrate the effectiveness of the proposed strategy. Underactuated surface vehicles Collision avoidance Actuator magnitude and rate saturations Artificial potential functions Xia, Xiaoming verfasserin (orcid)0000-0002-3993-5028 aut Zheng, Zhi verfasserin aut Enthalten in Ocean engineering Amsterdam [u.a.] : Elsevier Science, 1970 260 Online-Ressource (DE-627)30658977X (DE-600)1498543-3 (DE-576)259484164 0029-8018 nnns volume:260 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 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_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 50.92 Meerestechnik AR 260
allfieldsSound	10.1016/j.oceaneng.2022.111935 doi (DE-627)ELV008426341 (ELSEVIER)S0029-8018(22)01271-9 DE-627 ger DE-627 rda eng 690 DE-600 50.92 bkl Xia, Guoqing verfasserin aut Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, a formation tracking problem with collision avoidance is investigated for underactuated surface vehicles (USVs) with actuator magnitude and rate saturations. The USVs are subject to model uncertainties and external disturbances. A nonlinear extended state observer (NESO) is used to recover the linear velocity and yaw rate as well as unknown uncertainties and disturbances. A distributed control law is designed by artificial potential functions (APFs), the NESO and a backstepping technique. The APFs combined with a strategy are employed to achieve collision avoidance. Additional controllers are employed to deal with the underactuated problem, actuator magnitude and rate saturations. The stability of formation control system and simulation results are performed to illustrate the effectiveness of the proposed strategy. Underactuated surface vehicles Collision avoidance Actuator magnitude and rate saturations Artificial potential functions Xia, Xiaoming verfasserin (orcid)0000-0002-3993-5028 aut Zheng, Zhi verfasserin aut Enthalten in Ocean engineering Amsterdam [u.a.] : Elsevier Science, 1970 260 Online-Ressource (DE-627)30658977X (DE-600)1498543-3 (DE-576)259484164 0029-8018 nnns volume:260 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 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_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 50.92 Meerestechnik AR 260
language	English
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sourceStr	Enthalten in Ocean engineering 260 volume:260
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topic_facet	Underactuated surface vehicles Collision avoidance Actuator magnitude and rate saturations Artificial potential functions
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container_title	Ocean engineering
authorswithroles_txt_mv	Xia, Guoqing @@aut@@ Xia, Xiaoming @@aut@@ Zheng, Zhi @@aut@@
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author	Xia, Guoqing
spellingShingle	Xia, Guoqing ddc 690 bkl 50.92 misc Underactuated surface vehicles misc Collision avoidance misc Actuator magnitude and rate saturations misc Artificial potential functions Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations
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topic_title	690 DE-600 50.92 bkl Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations Underactuated surface vehicles Collision avoidance Actuator magnitude and rate saturations Artificial potential functions
topic	ddc 690 bkl 50.92 misc Underactuated surface vehicles misc Collision avoidance misc Actuator magnitude and rate saturations misc Artificial potential functions
topic_unstemmed	ddc 690 bkl 50.92 misc Underactuated surface vehicles misc Collision avoidance misc Actuator magnitude and rate saturations misc Artificial potential functions
topic_browse	ddc 690 bkl 50.92 misc Underactuated surface vehicles misc Collision avoidance misc Actuator magnitude and rate saturations misc Artificial potential functions
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title	Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations
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title_full	Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations
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author_browse	Xia, Guoqing Xia, Xiaoming Zheng, Zhi
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title_sort	formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations
title_auth	Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations
abstract	In this paper, a formation tracking problem with collision avoidance is investigated for underactuated surface vehicles (USVs) with actuator magnitude and rate saturations. The USVs are subject to model uncertainties and external disturbances. A nonlinear extended state observer (NESO) is used to recover the linear velocity and yaw rate as well as unknown uncertainties and disturbances. A distributed control law is designed by artificial potential functions (APFs), the NESO and a backstepping technique. The APFs combined with a strategy are employed to achieve collision avoidance. Additional controllers are employed to deal with the underactuated problem, actuator magnitude and rate saturations. The stability of formation control system and simulation results are performed to illustrate the effectiveness of the proposed strategy.
abstractGer	In this paper, a formation tracking problem with collision avoidance is investigated for underactuated surface vehicles (USVs) with actuator magnitude and rate saturations. The USVs are subject to model uncertainties and external disturbances. A nonlinear extended state observer (NESO) is used to recover the linear velocity and yaw rate as well as unknown uncertainties and disturbances. A distributed control law is designed by artificial potential functions (APFs), the NESO and a backstepping technique. The APFs combined with a strategy are employed to achieve collision avoidance. Additional controllers are employed to deal with the underactuated problem, actuator magnitude and rate saturations. The stability of formation control system and simulation results are performed to illustrate the effectiveness of the proposed strategy.
abstract_unstemmed	In this paper, a formation tracking problem with collision avoidance is investigated for underactuated surface vehicles (USVs) with actuator magnitude and rate saturations. The USVs are subject to model uncertainties and external disturbances. A nonlinear extended state observer (NESO) is used to recover the linear velocity and yaw rate as well as unknown uncertainties and disturbances. A distributed control law is designed by artificial potential functions (APFs), the NESO and a backstepping technique. The APFs combined with a strategy are employed to achieve collision avoidance. Additional controllers are employed to deal with the underactuated problem, actuator magnitude and rate saturations. The stability of formation control system and simulation results are performed to illustrate the effectiveness of the proposed strategy.
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title_short	Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations
remote_bool	true
author2	Xia, Xiaoming Zheng, Zhi
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doi_str	10.1016/j.oceaneng.2022.111935
up_date	2024-07-06T19:39:51.574Z
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fullrecord_marcxml	<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">ELV008426341</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20230524125405.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">230508s2022 xx \|\|\|\|\|o 00\| \|\|eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1016/j.oceaneng.2022.111935</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)ELV008426341</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(ELSEVIER)S0029-8018(22)01271-9</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rda</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="082" ind1="0" ind2="4"><subfield code="a">690</subfield><subfield code="q">DE-600</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">50.92</subfield><subfield code="2">bkl</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Xia, Guoqing</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2022</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">nicht spezifiziert</subfield><subfield code="b">zzz</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">In this paper, a formation tracking problem with collision avoidance is investigated for underactuated surface vehicles (USVs) with actuator magnitude and rate saturations. The USVs are subject to model uncertainties and external disturbances. A nonlinear extended state observer (NESO) is used to recover the linear velocity and yaw rate as well as unknown uncertainties and disturbances. A distributed control law is designed by artificial potential functions (APFs), the NESO and a backstepping technique. The APFs combined with a strategy are employed to achieve collision avoidance. Additional controllers are employed to deal with the underactuated problem, actuator magnitude and rate saturations. 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Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations

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