The Bioinspired Model-Based Hybrid Sliding-Mode Formation Control for Underactuated Unmanned Surface Vehicles
In this paper, a novel hybrid strategy is proposed for unmanned surface vehicle (USV) formation control. The strategy is divided into two subsystems: a virtual velocity controller based on the bioinspired model and a dynamic controller based on the sliding-mode model. The proposed control scheme sol...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2018/7563178 |
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| _version_ | 1849305262324711424 |
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| author | Mingyu Fu Duansong Wang |
| author_facet | Mingyu Fu Duansong Wang |
| author_sort | Mingyu Fu |
| collection | DOAJ |
| description | In this paper, a novel hybrid strategy is proposed for unmanned surface vehicle (USV) formation control. The strategy is divided into two subsystems: a virtual velocity controller based on the bioinspired model and a dynamic controller based on the sliding-mode model. The proposed control scheme solves the problem of a speed jump that occurs in the traditional backstepping method when the margin of error increases suddenly, and it also satisfies the actuator control constraint. Additionally, a dynamic controller is designed, combining the sliding mode with the proposed virtual controller, to avoid the traditional chattering problem. System stability is proven by the Lyapunov theory. Simulation results verify the effectiveness of the proposed controller. |
| format | Article |
| id | doaj-art-09a738f3e6f844dd9cef811cea3d5ff3 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-09a738f3e6f844dd9cef811cea3d5ff32025-08-20T03:55:29ZengWileyJournal of Control Science and Engineering1687-52491687-52572018-01-01201810.1155/2018/75631787563178The Bioinspired Model-Based Hybrid Sliding-Mode Formation Control for Underactuated Unmanned Surface VehiclesMingyu Fu0Duansong Wang1Harbin Engineering University, Harbin, Heilongjiang, ChinaHarbin Engineering University, Harbin, Heilongjiang, ChinaIn this paper, a novel hybrid strategy is proposed for unmanned surface vehicle (USV) formation control. The strategy is divided into two subsystems: a virtual velocity controller based on the bioinspired model and a dynamic controller based on the sliding-mode model. The proposed control scheme solves the problem of a speed jump that occurs in the traditional backstepping method when the margin of error increases suddenly, and it also satisfies the actuator control constraint. Additionally, a dynamic controller is designed, combining the sliding mode with the proposed virtual controller, to avoid the traditional chattering problem. System stability is proven by the Lyapunov theory. Simulation results verify the effectiveness of the proposed controller.http://dx.doi.org/10.1155/2018/7563178 |
| spellingShingle | Mingyu Fu Duansong Wang The Bioinspired Model-Based Hybrid Sliding-Mode Formation Control for Underactuated Unmanned Surface Vehicles Journal of Control Science and Engineering |
| title | The Bioinspired Model-Based Hybrid Sliding-Mode Formation Control for Underactuated Unmanned Surface Vehicles |
| title_full | The Bioinspired Model-Based Hybrid Sliding-Mode Formation Control for Underactuated Unmanned Surface Vehicles |
| title_fullStr | The Bioinspired Model-Based Hybrid Sliding-Mode Formation Control for Underactuated Unmanned Surface Vehicles |
| title_full_unstemmed | The Bioinspired Model-Based Hybrid Sliding-Mode Formation Control for Underactuated Unmanned Surface Vehicles |
| title_short | The Bioinspired Model-Based Hybrid Sliding-Mode Formation Control for Underactuated Unmanned Surface Vehicles |
| title_sort | bioinspired model based hybrid sliding mode formation control for underactuated unmanned surface vehicles |
| url | http://dx.doi.org/10.1155/2018/7563178 |
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