AI Article Synopsis

  • - A new set of protocols has been developed for coordinating multiple marine surface vehicles (MSVs) to follow specific paths while keeping tracking errors within a limited time frame and minimizing communication needs through quantized information sharing.
  • - The proposed control framework includes two main objectives: improving convergence speed and tracking accuracy using advanced mathematical functions (like barrier Lyapunov functions) and developing innovative protocols that optimize communication and enhance dynamic performance.
  • - The effectiveness of this containment maneuvering strategy has been validated through theoretical analysis and experimental tests, demonstrating its advantages over existing methods in managing MSV coordination.

Article Abstract

A new type of containment maneuvering protocols for multiple marine surface vehicles (MSVs) is developed to follow a parameterized path in this work, where the tracking errors are constrained within finite time and the information needed to be transmitted is quantized during coordination. To achieve containment maneuvering of multiple MSVs, a two-objective coordinated control framework is proposed. For the geometric objective, by developing tan-type barrier Lyapunov functions (BLFs) and extended Lyapunov condition-based finite-time guidance laws, the performance of the parameterized line-of-sight guidance framework, including convergence speed and tracking error constraints, is improved. For the dynamic objective, based on quantized control strategy and smooth saturation functions, novel bounded containment maneuvering protocols are proposed to dramatically alleviate the burden of communications among MSVs and ensure more faster dynamic behavior on tracking the path updating speed. Both theoretical analysis and experimental tests with comparative studies illustrate the validity of the proposed containment maneuvering strategy.

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Source
http://dx.doi.org/10.1109/TCYB.2024.3462757DOI Listing

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