Li, C; Xu, H; Yu, W; Du, Z; Liu, Y; (2024) Exponential smoothing-based fixed-time path-guided coordinated control of unmanned surface vehicles under communication interruption. Ocean Engineering , 298 , Article 117119. 10.1016/j.oceaneng.2024.117119.

Text Exponential Smoothing-Based Fixed-Time Distributed Formation Control of Unmanned Surface Vehicles under Communication Interruption.pdf - Accepted Version Access restricted to UCL open access staff until 24 February 2025. Download (1MB)

Abstract

This paper investigates the path-guided coordinated control (PACC) of unmanned surface vehicles (USVs) under communication interruption. All USVs follow the single-path-guided control method and only certain USVs have access to the virtual leader. In order to maintain the USVs formation to the maximum extent and avoid individual losses when avoiding the communication shielding area, a fixed-time formation control method based on exponential smoothing prediction is proposed in this paper. Firstly, a sigmoid function based artificial potential field is designed to optimize the kinematics control output of USVs during obstacle avoidance. Secondly, a fixed-time distributed kinematics control law based on Holt-winters exponential smoothing (HWES) prediction is developed to maintain the USVs formation to the maximum extent under communication interruption. Finally, a fixed-time cascade control system is proposed to achieve fast convergence of kinematic and kinetics errors. Numerical simulations and comparisons are conducted to demonstrate the effectiveness and advantages of the proposed method.

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