44 Results Found

This paper proposes an adaptive trajectory tracking control strategy for underactuated unmanned surface vehicles subject to unknown dynamics and time-varing external disturbances. In short, the goal of this paper is to provide a control strategy that...

This paper focuses on a distributed cooperative time-varying formation maneuvering issue of under-actuated unmanned surface vehicles (USVs). A fleet of USVs is guided by a parameterized path with a time-varying formation while avoiding collisions and...

This paper addresses the issue of the poor collision avoidance effect of underactuated surface vehicles (USVs) during local path tracking. A virtual ship group control method is suggested by using Freiner coordinates and a model predictive control (M...

This study proposes a new disturbance-observer-based adaptive distributed formation control scheme for multiple underactuated surface vehicles (USVs) subject to unknown synthesized disturbances under prescribed performance constraints. A modified sli...

This paper shows solicitude for the path following control issues of underactuated unmanned surface vehicles subject to unknown external disturbances, deviation of vessel model parameters and actuator saturation. Initially, an improved adaptive integ...

This paper mainly addresses the model-parameter-free prescribed time trajectory tracking control issue for under-actuated unmanned surface vehicles (USVs) that are susceptible to model uncertainties, time-varying disturbances, and saturation constrai...

Unmanned Surface Vehicle (USV) is a novel multifunctional platform for ocean observation, and its heading and velocity control are essential and important for autonomous operation. A coupled heading and velocity controller is designed using backstepp...

This paper focuses on an issue involving robust adaptive path following for the uncertain underactuated unmanned surface vehicle with time-varying large sideslips angle and actuator saturation. An improved line-of-sight guidance law based on a reduce...

To promote the development of military and civilian applications for marine technology, more and more scientific research around the world has begun to develop unmanned surface vehicles (USVs) technology with advanced control capabilities. This paper...

Ship berthing is one of the most challenging operations for crews, involving optimal trajectory generation and intricate harbor maneuvering at low speed. In this paper, we present a practical path-planning method that generates smooth trajectories fo...

Aiming to address the problem of underactuated unmanned surface vehicles (USVs) performing fixed-point operations at sea without dynamic positioning control systems, this paper introduces an original approach to positioning control: the virtual ancho...

In this paper, a robust composite dynamic event-triggered formation control scheme is proposed for multiple underactuated surface vehicles (USVs) from two aspects, i.e., guidance and control. In the guidance module, a novel dual-layer line-of-sight (...

This paper investigates the distributed formation control problem of underactuated unmanned surface vehicles (UUSVs) with uncertainties and disturbances and proposes a novel distributed formation controller. The proposed controller redefines the dyna...

Model predictive control (MPC), an extensively developed rolling optimization control method, is widely utilized in the industrial field. While some researchers have incorporated predictive control into underactuated unmanned surface vehicles (USVs),...

The development of dynamic positioning (DP) algorithms for an unmanned surface vehicle (USV) is attracting great interest, especially in support of complex missions such as sea rescue. In order to improve the simplicity of the algorithm, a DP algorit...

In this paper, targeting the problem that it is difficult to deal with the time-varying sideslip angle of an underactuated unmanned surface vehicle (USV), a line–of–sight (LOS) guidance law based on an improved extended state observer (ES...

In this paper, a solution to the problem of following a curved path for underactuated unmanned surface vehicles (USVs) with unknown sideslip angle and model uncertainties is studied. A novel smooth sliding mode control (SSMC) based on a finite-time e...

This article proposes an adaptive sliding mode fault-tolerant tracking control scheme for underactuated unmanned surface vehicles (USVs) that suffer from loss of effectiveness and increase in bias input when performing path tracking. First, the mathe...

An effective path-following controller is a guarantee for stable sailing of underactuated unmanned surface vehicles (USVs). This paper proposes an event-triggered robust control approach considering an unknown model nonlinearity, external disturbance...

In this paper, the problem of coordinated control of multiple hovercrafts is addressed. For a single hovercraft, by using the backstepping technique, a nonlinear controller is proposed, where Radial Basis Function Neural Networks (RBFNNs) are adopted...

Obstacle-avoidance risk threshold control and global discrete keypoint re-entry are critical factors influencing the smooth dynamic obstacle avoidance of unmanned vessels. For underactuated USVs, which operate in planar motion with three degrees of f...

Multi-under-actuated unmanned surface vehicles (USV) path tracking control is studied and decoupled by virtue of decentralized control. First, an improved integral line-of-sight guidance strategy is put forward and combined with feedback control to d...

Surface-vehicle berthing is a complex and challenging task. It involves complicated ship dynamics owing to a large drift angle and the time-varying environmental disturbances induced by wind, wave, and current. Therefore, berthing requires state proc...

This study describes a circular curve path-following controller for an underactuated unmanned surface vessel (USV) experiencing unmodeled dynamics and external disturbances. Initially, a three degrees of freedom kinematic model of the USV is proposed...

With the increasing number of applications for both surface and underwater autonomous vehicles, a great amount of control methods and guidance principles has been developed over the years. This work proposes a review of the most common of these metho...

This paper focuses on the design of a three-dimensional trajectory tracking controller for underactuated quadrotor-like autonomous underwater vehicles (QAUVs) subject to actuator saturation. A hand position method with a signum function is proposed t...

In this paper, we present a 3D formation control scheme for a group of torpedo-type underactuated autonomous underwater vehicles (AUVs). These multiple AUVs combined with an unmanned surface vessel (USV) construct a sort of star-topology acoustic com...

This paper deals with the leader-follower formation control of underactuated autonomous surface vehicles in the presence of model uncertainties and input constraints. In a leader-follower formation, an autonomous surface vehicle (ASV) called leader t...

The objective of continuous increase in the evolution of autonomous and intelligent vehicles is to attain a trustworthy, economical, and safe transportation system. Four-wheel steering (4WS) vehicles are favored over traditional front-wheel steering...

In this paper, a prescribed performance control scheme of the quadrotor unmanned aerial vehicle (UAV) under attitude and input saturation constraints is introduced. According to the underactuated feature, the quadrotor UAV system can be decomposed in...

This paper investigates the leader–follower formation tracking control of underactuated surface vessels (USVs) with input saturation. Each vessel is subject to the uncertainties induced by model uncertainties and environmental disturbances. Fir...

Trajectory planning aims to provide a time-related control target that contains the concerned states. For an underactuated surface vehicle (USV), planning challenges include limitations on curvature, speed, acceleration, and jerk. These challenges ar...

This paper studies the fast finite-time path following of underactuated unmanned surface vehicles (USV) with sideslip compensation, time-varying disturbances and input saturation. In the guidance module, the fast finite-time predictor-based line-of-s...

In the presence of modeling uncertainties and input saturation, this paper proposes a practical adaptive sliding mode control scheme for an underactuated unmanned surface vehicle (USV) using neural network, auxiliary dynamic system, sliding mode cont...

For efficient and safe navigation for an autonomous surface vehicle (ASV), this paper proposes an autonomous navigation behavior framework that integrates deep reinforcement learning (DRL) to achieve autonomous decision-making and low-level control a...

Efficient trajectory generation in complex dynamic environments remains an open problem in the operation of an unmanned surface vehicle (USV). The perception of a USV is usually interfered by the swing of the hull and the ambient weather, making it c...

For an underactuated unmanned surface vehicle (USV), time-varying external disturbances affect the accuracy of trajectory tracking. To ensure trajectory tracking accuracy, in this paper the reduced-order extended state observer (ESO) and the super-tw...

To achieve precise control of the symmetrical unmanned surface vehicle (USV) under strong external disturbances, we propose a disturbance estimation and conditional disturbance compensation control (CDCC) scheme. First, the differential flatness meth...

While using multirotor UAVs for transport of suspended payloads, there is a need for stability along the desired path, in addition to avoidance of any excessive payload oscillations, and a good level of precision in maintaining the desired path of th...

Dynamic surface control (DSC) is a recognized nonlinear control approach for high-order systems. However, as the complexity of the system increases and the first-order filter (FOF) is introduced, there exists a singularity problem, i.e., the control...

In this paper, a bio-inspired sliding mode control (bio-SMC) and minimal learning parameter (MLP) are proposed to achieve the cooperative formation control of underactuated unmanned surface vehicles (USVs) with external environmental disturbances and...

Around the cooperative path-following control for the underactuated surface vessel (USV) and the unmanned aerial vehicle (UAV), a logic virtual ship-logic virtual aircraft (LVS-LVA) guidance principle is developed to generate the reference heading si...

This paper presents a global fixed-time control framework to address the target circumnavigation tracking problem of underactuated unmanned surface vehicles (USV) under unknown velocity states, lumped uncertainties, and actuator saturation. At the co...

To address the issues of external unknown disturbances and roll motion in the tracking control of underactuated unmanned surface vehicle (USV) formation, a cooperative formation control method based on nonlinear model predictive control (NMPC) algori...