PDE Formation and Iterative Docking Control of USVs for the Straight-Line-Shaped Mission
In this paper, an intelligent control scheme of formation collision avoidance and iterative docking is proposed for full-actuated unmanned surface vehicles (USVs). The artificial potential field method is integrated into the partial differential equation (PDE) formation control approach, which can i...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-03-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/10/4/478 |
| _version_ | 1827628228347428864 |
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| author | Yusi Zhou Nailong Wu Haodong Yuan Feng Pan Zhiyong Shan Chao Wu |
| author_facet | Yusi Zhou Nailong Wu Haodong Yuan Feng Pan Zhiyong Shan Chao Wu |
| author_sort | Yusi Zhou |
| collection | DOAJ |
| description | In this paper, an intelligent control scheme of formation collision avoidance and iterative docking is proposed for full-actuated unmanned surface vehicles (USVs). The artificial potential field method is integrated into the partial differential equation (PDE) formation control approach, which can improve the collision-avoidance performance of the formation. During the docking process of the straight-line formation, the USV agent is expected to track the desired commands accurately. Considering the possibility of docking failure, an iterative learning model predictive control (ILMPC) scheme is introduced. Once the moving USV fails in docking on the stationary USV, the moving agent can return to the origin to re-execute the docking process. The ILMPC method has the advantages of model predictive control and the iterative learning, so it can consider the future process dynamics in the time domain and overcome periodic disturbances. Simulation results show that USVs can avoid collisions with each other in the straight-line-formation mission. Furthermore, the USV agent can dock one-by-one successfully when interference exists. |
| first_indexed | 2024-03-09T13:28:43Z |
| format | Article |
| id | doaj.art-e76c0ad77d684f1dac0dc1abe148fef2 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T13:28:43Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-e76c0ad77d684f1dac0dc1abe148fef22023-11-30T21:21:08ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-03-0110447810.3390/jmse10040478PDE Formation and Iterative Docking Control of USVs for the Straight-Line-Shaped MissionYusi Zhou0Nailong Wu1Haodong Yuan2Feng Pan3Zhiyong Shan4Chao Wu5College of Information Science and Technology, Donghua University, Shanghai 201620, ChinaCollege of Information Science and Technology, Donghua University, Shanghai 201620, ChinaSANY Heavy Industry Co., Ltd., Kunshan 215300, ChinaCollege of Information Science and Technology, Donghua University, Shanghai 201620, ChinaCollege of Information Science and Technology, Donghua University, Shanghai 201620, ChinaSchool of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaIn this paper, an intelligent control scheme of formation collision avoidance and iterative docking is proposed for full-actuated unmanned surface vehicles (USVs). The artificial potential field method is integrated into the partial differential equation (PDE) formation control approach, which can improve the collision-avoidance performance of the formation. During the docking process of the straight-line formation, the USV agent is expected to track the desired commands accurately. Considering the possibility of docking failure, an iterative learning model predictive control (ILMPC) scheme is introduced. Once the moving USV fails in docking on the stationary USV, the moving agent can return to the origin to re-execute the docking process. The ILMPC method has the advantages of model predictive control and the iterative learning, so it can consider the future process dynamics in the time domain and overcome periodic disturbances. Simulation results show that USVs can avoid collisions with each other in the straight-line-formation mission. Furthermore, the USV agent can dock one-by-one successfully when interference exists.https://www.mdpi.com/2077-1312/10/4/478PDEILMPCUSV formationdocking |
| spellingShingle | Yusi Zhou Nailong Wu Haodong Yuan Feng Pan Zhiyong Shan Chao Wu PDE Formation and Iterative Docking Control of USVs for the Straight-Line-Shaped Mission Journal of Marine Science and Engineering PDE ILMPC USV formation docking |
| title | PDE Formation and Iterative Docking Control of USVs for the Straight-Line-Shaped Mission |
| title_full | PDE Formation and Iterative Docking Control of USVs for the Straight-Line-Shaped Mission |
| title_fullStr | PDE Formation and Iterative Docking Control of USVs for the Straight-Line-Shaped Mission |
| title_full_unstemmed | PDE Formation and Iterative Docking Control of USVs for the Straight-Line-Shaped Mission |
| title_short | PDE Formation and Iterative Docking Control of USVs for the Straight-Line-Shaped Mission |
| title_sort | pde formation and iterative docking control of usvs for the straight line shaped mission |
| topic | PDE ILMPC USV formation docking |
| url | https://www.mdpi.com/2077-1312/10/4/478 |
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