Velocity-Free Formation Control and Collision Avoidance for UUVs via RBF: A High-Gain Approach
This paper designs an adaptive formation control system for unmanned underwater vehicles (UUVs) in the presence of unmeasurable states and environmental disturbance. To solve the problem of unmeasurable UUV states, a filtered high-gain observer (FHGO) is employed to estimate the states, despite meas...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-04-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/11/8/1170 |
| _version_ | 1797446763102076928 |
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| author | Zheping Yan Anzuo Jiang Chonglang Lai Heng Li |
| author_facet | Zheping Yan Anzuo Jiang Chonglang Lai Heng Li |
| author_sort | Zheping Yan |
| collection | DOAJ |
| description | This paper designs an adaptive formation control system for unmanned underwater vehicles (UUVs) in the presence of unmeasurable states and environmental disturbance. To solve the problem of unmeasurable UUV states, a filtered high-gain observer (FHGO) is employed to estimate the states, despite measurement noise. Then, an adaptive control scheme is designed to achieve UUV formation collision avoidance. The radial basis function (RBF) is used to estimate the unknown disturbance. The stability of UUV formation with collision avoidance is proven by using the Lyapunov theorem. Numerical simulation is carried out to demonstrate that the proposed filtered high-gain observer is successful in estimating the states of UUVs. The control law can keep the UUV formation from collision with good performance. |
| first_indexed | 2024-03-09T13:45:14Z |
| format | Article |
| id | doaj.art-749cc95e7c71452990c9be9289aa826e |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-09T13:45:14Z |
| publishDate | 2022-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-749cc95e7c71452990c9be9289aa826e2023-11-30T21:01:19ZengMDPI AGElectronics2079-92922022-04-01118117010.3390/electronics11081170Velocity-Free Formation Control and Collision Avoidance for UUVs via RBF: A High-Gain ApproachZheping Yan0Anzuo Jiang1Chonglang Lai2Heng Li3College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaThis paper designs an adaptive formation control system for unmanned underwater vehicles (UUVs) in the presence of unmeasurable states and environmental disturbance. To solve the problem of unmeasurable UUV states, a filtered high-gain observer (FHGO) is employed to estimate the states, despite measurement noise. Then, an adaptive control scheme is designed to achieve UUV formation collision avoidance. The radial basis function (RBF) is used to estimate the unknown disturbance. The stability of UUV formation with collision avoidance is proven by using the Lyapunov theorem. Numerical simulation is carried out to demonstrate that the proposed filtered high-gain observer is successful in estimating the states of UUVs. The control law can keep the UUV formation from collision with good performance.https://www.mdpi.com/2079-9292/11/8/1170multiple unmanned underwater vehiclesformation controlcollision avoidancehigh-gain observer |
| spellingShingle | Zheping Yan Anzuo Jiang Chonglang Lai Heng Li Velocity-Free Formation Control and Collision Avoidance for UUVs via RBF: A High-Gain Approach Electronics multiple unmanned underwater vehicles formation control collision avoidance high-gain observer |
| title | Velocity-Free Formation Control and Collision Avoidance for UUVs via RBF: A High-Gain Approach |
| title_full | Velocity-Free Formation Control and Collision Avoidance for UUVs via RBF: A High-Gain Approach |
| title_fullStr | Velocity-Free Formation Control and Collision Avoidance for UUVs via RBF: A High-Gain Approach |
| title_full_unstemmed | Velocity-Free Formation Control and Collision Avoidance for UUVs via RBF: A High-Gain Approach |
| title_short | Velocity-Free Formation Control and Collision Avoidance for UUVs via RBF: A High-Gain Approach |
| title_sort | velocity free formation control and collision avoidance for uuvs via rbf a high gain approach |
| topic | multiple unmanned underwater vehicles formation control collision avoidance high-gain observer |
| url | https://www.mdpi.com/2079-9292/11/8/1170 |
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