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This paper presents a guidance law design for synchronized path following of multiple underactuated unmanned surface vehicles (USVs) without using a global reference velocity. Firstly, a distributed observer is proposed to eliminate the need of reference velocity known to all the vehicles. Secondly, a line-of-sight based guidance law is derived to force each vehicle to follow a parameterized path...
This paper is concerned with the disturbance estimation and state recovery of autonomous surface vehicles in the presence of uncertainty and unmeasured surge, sway, and yaw velocities by using the position-yaw measurements only. The uncertainty stems from parametric model uncertainty, unmodelled hydrodynamics, and external disturbance, which are induced by wind, waves and ocean currents. By using...
In this paper, a distributed guidance law at the kinematic level is developed for coordinated maneuvering of networked fully-actuated autonomous surface vehicles with a virtual leader that moves along a parameterized path. We design the distributed guidance law based on the constant bearing guidance scheme and a path maneuvering design. We prove that the error signals in the closed-loop guidance system...
This paper considers coordinated path following of multiple underactuated unmanned surface vehicles (USVs) subject to dynamical uncertainties and limited control torques. The objective is to achieve a symmetric formation pattern over a closed curve. Adaptive coordinated path following controllers are developed by combing a parameter cyclic pursuit approach, a line-of-sight guidance principle, and...
This paper presents a guidance law design for synchronized path-following of multiple under-actuated unmanned surface vehicles (USVs) in the presence of unknown sideslip. The sideslip can be caused by wind, waves, and ocean currents, or arise when following a curved path. An adaptive guidance law is proposed based on a line-of-sight (LOS) guidance principle and a low-frequency learning scheme. By...
This paper presents a novel extended state observer (ESO)-based line-of-sight guidance law for path following of underactuated marine surface vehicles in the presence of time-varying sideslip angle. A reduced-order ESO is employed to identify the vehicle sideslip angle caused by constant ocean disturbances when following a curved path or time-varying ocean disturbances. This guarantees that the sideslip...
The paper addresses the problem of steering a group of underactuated marine surface vehicles along one parameterized path, while the path variables of the vehicles are uniformly dispersed between those of two virtual leaders. This problem arises for example when multiple marine surface vehicles are required to track the same path to avoid obstacles and dangerous areas, or to reduce the workload of...
This paper considers the distributed formation tracking of networked marine surface vehicles with model uncertainty and time-varying ocean disturbances induced by wind, waves and ocean currents. The objective is to achieve a collective tracking with a time-varying trajectory, which can only be accessed by a fraction of follower vehicles. Distributed adaptive formation controllers are developed based...
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