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. 2020 Feb 6;20(3):864.
doi: 10.3390/s20030864.

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Zefang Li  1 , Zhong Liu  1 , Jianqiang Zhang  1
Affiliations

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Zefang Li et al. Sensors (Basel). .

Abstract

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 design the path tracking controller and realize the single USV path tracking in the horizontal plane. Second, graph theory is utilized to design the decentralized velocity coordination controller for USV formation, so that multiple USVs could consistently realize the specified formation to the position and velocity of the expected path. Third, cascade system theory and Lyapunov stability are used to respectively prove the uniform semi-global exponential stability of single USV path tracking control system and the global asymptotic stability and uniform local exponential stability of coordinated formation system. At last, simulation and field experiment are conducted to analyze and verify the advancement and effectiveness of the proposed algorithms in this paper.

Keywords: integral line-of-sight guidance; multi-USV control; path tracking; under-actuated unmanned surface vehicles (USV).

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
Schematic diagram of unmanned surface vehicles (USV) motion with 3 degrees of freedom (DOF) on the horizontal plane.
Figure 2
Figure 2
Line-of-sight guidance strategy.
Figure 3
Figure 3
Description of USV formation motion.
Figure 4
Figure 4
Straight track of USV under two strategies.
Figure 5
Figure 5
Transverse error of USV under two strategies.
Figure 6
Figure 6
Longitudinal velocity of USV under two strategies.
Figure 7
Figure 7
Forward thrust of USV under two strategies.
Figure 8
Figure 8
Heading angle of USV under two strategies.
Figure 9
Figure 9
Turning torque of USV under two strategies.
Figure 10
Figure 10
Curved path tracking of USV under two strategies.
Figure 11
Figure 11
Transverse error variation of USV under two strategies.
Figure 12
Figure 12
Relative longitudinal velocity variation of USV under two strategies.
Figure 13
Figure 13
Forward thrust variation of USV under two strategies.
Figure 14
Figure 14
Heading angle variation of USV under two strategies.
Figure 15
Figure 15
Turning torque variation of USV under two strategies.
Figure 16
Figure 16
Schematic diagram of formation.
Figure 17
Figure 17
Formation trajectory (Algorithm 3).
Figure 18
Figure 18
Lateral error (Algorithm 3).
Figure 19
Figure 19
Longitudinal error (Algorithm 3).
Figure 20
Figure 20
Heading angle error (Algorithm 3).
Figure 21
Figure 21
Velocity error (Algorithm 3).
Figure 22
Figure 22
Formation trajectory (Algorithm 4).
Figure 23
Figure 23
Lateral error (Algorithm 4).
Figure 24
Figure 24
Longitudinal error (Algorithm 4).
Figure 25
Figure 25
Heading angle error (Algorithm 4).
Figure 26
Figure 26
Velocity error (Algorithm 4).
Figure 27
Figure 27
Jellyfish.
Figure 28
Figure 28
Hardware composition of USV cruising control system.
Figure 29
Figure 29
Jellyfish formation in cruising.
Figure 30
Figure 30
Schematic diagram of the expected formation for the USV.
Figure 31
Figure 31
Setting interface for the expected path of USV1 on basestation.
Figure 32
Figure 32
Tracking trajectory of the USV formation.
Figure 33
Figure 33
Variation of USV transverse error.
Figure 34
Figure 34
Variation of USV longitudinal error.
Figure 35
Figure 35
Variation of heading angle error.
Figure 36
Figure 36
Variation of velocity error.
Figure 37
Figure 37
Variation of velocity.
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References

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