Skip to main content

Advertisement

SpringerLink
Log in

Bounded controllers for LOS-based coordinated path following in networks of marine surface vehicles with delayed communications

  • Original Paper
  • Published:
Nonlinear Dynamics Aims and scope Submit manuscript

Abstract

The purpose of this paper is to develop a new type of coordinated path following controllers for multiple marine surface vehicles (MSVs) which track parameterized paths under the influence of time-varying communication delays. For the kinematic level, Line-of-Sight (LOS)-based coordinated guidance laws are derived to generate the desired velocities and heading angles which need to be tracked in the nonlinear dynamic control. For the kinetic level, bounded control inputs are designed to guarantee that each MSV meets the desired cooperative tracking behavior through the feedback control by tracking the reference signals. The main advantages that differ from the current coordinated path following designs are that: First, for on-board control layer, coordination controllers are derived over a delayed communication network on transmitting path variables without the assumption that individual path following errors are 0; second, time-varying delayed distributed speed estimators are designed to handle the communication delays from task layer; third, bounded control scheme for LOS-based coordinated path following is proposed to avoid input saturations by incorporating one-step ahead backstepping method. The global asymptotic stabilities are obtained. Simulation results are provided to validate the effectiveness of the method.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16

Similar content being viewed by others

Data availability

The datasets analyzed during the current study are available from the corresponding author on reasonable request.

References

  1. Hauser, J., Hindman, R.: “Maneuver regulation from trajectory tracking: Feedback linearizable systems,” In: Proceedings of IFAC Symposium on Nonlinear Control Systems Design, pp. 595–600, (1995)

  2. Aguiar, A.P., Ghabcheloo, R.: “Coordinated path-following of multiple underactuated autonomous vehicles with bidirectional communication constraints,” In: The International Symposium on Communications Control and Signal Processing, (2006)

  3. Ihle, I.F., Arcak, M., Fossen, T.I.: Passivity-based designs for synchronized path following. Automatica 43(9), 1508–1518 (2007)

    Article  MathSciNet  Google Scholar 

  4. R. Skjetne, S. Moi, Fossen, T.I.: “Nonlinear formation control of marine craft”, In: Proceedings of the 41st IEEE Conference on Decision and Control, pp. 1699–1704, (2002)

  5. Morten, B., Fossen, T.I.: “Motion control concepts for trajectory tracking of fully actuated ships’, IFAC, (2006)

  6. Almeida, J., Silvestre, C., Pascoal, A.: Cooperative control of multiple surface vessels in the presence of ocean currents and parametric model uncertainty. Int. J. Robust Nonlinear Control 20, 1549–1565 (2010)

    Article  MathSciNet  Google Scholar 

  7. Almeida, J., Silvestre, C., Pascoal, A.: Cooperative control of multiple surface vessels with discrete-time periodic communications. Int. J. Robust Nonlinear Control 22, 398–419 (2012)

    Article  MathSciNet  Google Scholar 

  8. Peng, Z.H., Wang, J., Wang, D.: Containment maneuvering of marine surface vehicles with multiple parameterized paths via spatial-temporal decoupling. IEEE/ASME Trans. Mechatron. 22(2), 1026–1036 (2017)

    Article  Google Scholar 

  9. Liu, L., Wang, D., Peng, Z.H.: Coordinated path following of multiple underacutated marine surface vehicles along one curve. ISA Trans. 64, 258–268 (2016)

    Article  Google Scholar 

  10. Ghommam, J., Faical, M.: Coordinated path following control for a group of underactuated surface vessels. IEEE Trans. Ind. Electron. 56(10), 3951–3963 (2009)

    Article  Google Scholar 

  11. Thorvaldsen, C. F. L., Skjetne, R.: “Formation control of fully-actuated marine vessels using group agreement protocols,” In: 50th IEEE Conference on Decision and Control and European Control Conference, pp. 4132–4139, Dec. (2011)

  12. Xiang, X.B., Liu, C., Lapierre, L., Jouvencel, B.: Synchronized path following control of multiple homogenous underactuated AUVs. J. Syst. Sci. Complex 25(1), 71–89 (2012)

    Article  MathSciNet  Google Scholar 

  13. Gao, Z.Y., Guo, G.: Velocity free leader-follower formation control for autonomous underwater vehicles with line-of-sight range and angle constraints. Inform. Sci. 486, 359–378 (2019)

    Article  MathSciNet  Google Scholar 

  14. Cui, R.X., Ge, S.S., How, B.V.E., Choo, Y.S.: Leader-follower formation control of underactuated autonomous underwater vehicles. Ocean Eng. 37(17), 1491–1502 (2010)

    Article  Google Scholar 

  15. Peng, Z.H., Wang, J., Han, Q.L.: Path-following control of autonomous underwater vehicles subject to velocity and input constraints via neurodynamic optimization. IEEE Trans. Ind. Electron. 66(11), 8724–8732 (2019)

    Article  Google Scholar 

  16. Peng, Z.H., Wang, J., Wang, D.: Distributed containment maneuvering of multiple marine vessels via neurodynamics-based output feedback. IEEE Trans. Ind. Electron. 64(5), 3831–3839 (2017)

    Article  Google Scholar 

  17. Liu, L., Wang, D., Peng, Z.H., Li, T.S.: Modular adaptive control for LOS-based cooperative path maneuvering of multiple underactuated autonomous surface vehicles. IEEE Trans. Syst. Man Cybern. Syst. 64(5), 3831–3839 (2017)

    Google Scholar 

  18. Wang, H., Tian, Y., Xu, H.L.: Neural adaptive command filtered control for cooperative path following of multiple underactuated autonomous underwater vehicles along one path. IEEE Trans. Syst. Man Cybern. Syst. 52(5), 2966–2978 (2022)

    Article  Google Scholar 

  19. Chen, Y.Y., Tian, Y.P.: Coordinated path following control of multi-unicycle formation motion around closed curves in a time-invariant flow. Nonlinear Dynam. 81, 1005–1061 (2015)

    Article  MathSciNet  Google Scholar 

  20. Liu, L., Wang, D., Peng, Z.H.: Direct and composite iterative neural control for cooperative dynamic positioning of marine surface vessels. Nonlinear Dynam. 81, 1315–1328 (2015)

    Article  Google Scholar 

  21. Peng, Z.H., Wang, J.: Output-feedback path-following control of autonomous underwater vehicles based on an extended state observer and projection neural networks. IEEE Trans. Syst. Man Cybern. Syst. 48(4), 535–544 (2018)

    Article  Google Scholar 

  22. Chen, J.C., Shuai, Z.B., Zhang, H., Zhao, W.Z.: Path following control of autonomous four-wheel-independent-drive electric vehicles via second-order sliding mode and nonlinear disturbance observer eechniques. IEEE Trans. Ind. Electron. 68(3), 2460–2469 (2021)

    Article  Google Scholar 

  23. Xie, W., Cabecinhas, D., Cunha, R., Silvestre, C.: Adaptive backstepping control of a quadcopter with uncertain vehicle mass, moment of inertia, and disturbances. IEEE Trans. Ind. Electron. (2021). https://doi.org/10.1109/TIE.2021.3055181

    Article  Google Scholar 

  24. Fossen, T.I., Pettersen, K.Y., Galeazzi, R.: Line of sight path following for Dubins paths with adaptive sideslip compensation of drift forces. IEEE Trans. Control Syst. Technol. 23(2), 820–827 (2015)

    Article  Google Scholar 

  25. Gu, N., Wang, D., Peng, Z.H., Liu, L.: Observer-based finite-time control for distributed path maneuvering of underactuated unmanned surface vehicles with collision avoidance and connectivity preservation. IEEE Trans. Syst. Man Cybern. Syst. 51(8), 3831–3839 (2021)

    Article  Google Scholar 

  26. Miao, J.M., Wang, S.P., Tomovic, M.M., Zhao, Z.P.: Compound line-of-sight nonlinear path following control of underactuated marine vehicles exposed to wind, waves, and ocean currents. Nonlinear Dynam. 89, 2441–2459 (2017)

    Article  MathSciNet  Google Scholar 

  27. Deng, Y.J., Zhang, X.K., Zhang, G.Q.: Line-of-sight-based guidance and adaptive neural path-following control for sailboats. IEEE J. Ocean. Eng. 45(4), 1177–1189 (2020)

    Article  MathSciNet  Google Scholar 

  28. Liu, L., Wang, D., Peng, Z.H., Li, T.S., Chen, C.L.P.: Cooperative path following ring-networked under-actuated autonomous surface vehicles: algorithms and experimental results. IEEE Trans. Cybern. 50(4), 1519–1529 (2020)

    Article  Google Scholar 

  29. Liu, L., Gu, N., Jiang, Y., Wang, D., Peng, Z. H.: “Guidance law design for synchronized path following of underactuated unmanned surface vehicles based on distributed observers, ” In: Chinese Automation Conference, pp. 6060–6065 (2017)

  30. Wang, H., Wang, D., Peng, Z.H.: Adaptive dynamic surface control for cooperative path following of marine surface vehicles with input saturation. Nonlinear Dynam. 77, 107–117 (2014)

    Article  MathSciNet  Google Scholar 

  31. Li, M.C., Guo, C., Miao, Y.H., Yuan, Y.: Line-of-sight-based global finite-time stable path following control of unmanned surface vehicles with actuator saturation. ISA Trans. (2021). https://doi.org/10.1016/j.isatra.2021.07.009

    Article  Google Scholar 

  32. Xia, Y.K., Xu, K., Li, Y., Xu, G.H., Xiang, X.B.: Improved line-of-sight trajectory tracking control of under-actuated AUV subjects to ocean currents and input saturation. Ocean Eng. 174, 14–30 (2019)

    Article  Google Scholar 

  33. Qiu, B.B., Wang, G.F., Fan, Y.S.: Predictor LOS-based trajectory linearization control for path following of underactuated unmanned surface vehicle with input saturation. Ocean Eng. 214, 1–12 (2020)

    Article  Google Scholar 

  34. Khalil, H.K.: Nonlinear Systems. Prentice Hall, Englewood Cliffs, New Jersey (2002)

    MATH  Google Scholar 

  35. Elsayed, E.M.: Dynamics and behavior of a higher order rational difference equation. J. Nonlinear Sci. Appl. 9(4), 1463–1474 (2016)

    Article  MathSciNet  Google Scholar 

  36. Vivek, D., Kanagarajan, K., Elsayed, E.M.: Some existence and stability results for Hilfer-fractional implicit differential equations with nonlocal conditions. Mediterranean J. Math. 15, 1–21 (2018)

    Article  MathSciNet  Google Scholar 

  37. Harikrishnan, S., Kanagarajan, K., Elsayed, E.M.: Existence and stability results for differential equations with complex order involving Hilfer fractional derivative. TWMS J. Pure Appl. Math. 10(1), 94–101 (2019)

    MathSciNet  MATH  Google Scholar 

  38. Fax, A., Murray, R.: Graph Laplacians and stabilization of vehicle formations. In: Proceedings of IFAC World Congress, Barcelona, Spain (2002)

  39. Ghabcheloo, R.: Coordinated path following of multiple autonomous vehicles, In: Ph.D. Thesis, Technical University of Lisbon (2007)

  40. Park, P.G.: A delay-dependent stability criterion for systems with uncertain time-invariant delays. IEEE Trans. Autom. Control 44, 867–877 (1999)

    MathSciNet  Google Scholar 

  41. Sun, Y.G., Wang, L.: Average consensus in networks of dynamic agents with switching topologies and multiple time-varying delays. Syst. Control 57, 175–183 (2008)

    Article  MathSciNet  Google Scholar 

  42. Li, J.H., Lee, P.M., Jun, B.H., Lim, Y.K.: Point-to-point navigation of underactuated ships. Automatica 44, 3201–3205 (2008)

    Article  MathSciNet  Google Scholar 

  43. Boyd, S., Ghaoui, L. E., Feron,E., Balakrishnan, V.: Linear matrix inequalities in system and control theory, Society for Industrial and Applied Mathematics (1994)

  44. Diaz, J.B., Metcalf, F.T.: An analytic proof of Young’s inequality. Am. Math. Monthly 77, 603–609 (1970)

    Article  MathSciNet  Google Scholar 

  45. Cunningham, F., Grossman, N.: On Young’s Inequality. Am. Math. Monthly 78, 781–783 (1971)

    Article  MathSciNet  Google Scholar 

  46. Ghabcheloo, R., Aguiar, A.P., et al.: Coordinated path-following in the presence of communication losses and time delays. SIAM J. Control Optim. 48(1), 1–32 (2009)

    Article  MathSciNet  Google Scholar 

  47. Chen, D.L., Liu, G.P., Zhang, R.B., Qu, X.R.: Coordinated path-following control for networked unmanned surface vehicles. Int. J. Adv. Robot. Syst. 17(3), 1–13 (2020)

    Google Scholar 

  48. Belleter, D.J.W., Braga, J., Pettersen, K.Y.: Experimental verification of a coordinated path-following strategy for underactuated marine vehicles. Front. Robot. AI 6(35), 1–15 (2019)

    Google Scholar 

  49. Chen, M., Ge, S.S., Ren, B.B.: Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints. Automatica 47(3), 452–465 (2011)

  50. Ji, R.H., Ma, J., Li, D.Y., Ge, S.S.: Finite-time adaptive output feedback control for MIMO nonlinear systems with actuator faults and saturations. IEEE Trans. Fuzzy Syst. 29(8), 2256–2270 (2021)

Download references

Author information

Authors and Affiliations

  1. Faculty of Robot Science and Engineering, Northeastern University, Shenyang, 110819, China

    Hao Wang, Yuxi Feng & Zizheng Wang

Authors
  1. Hao Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yuxi Feng
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Zizheng Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Hao Wang.

Ethics declarations

Conflict of interest

The authors declare that they have no known ethical and competing financial interests or personal relationships that could have appeared to influence the work reported in this paper. This work was supported in part by the National Natural Science Foundation of China under Grant 51809256, and in part by the Central Guidance on Local Science and Technology Development Fund of Liaoning Province under Grant 2022JH6/100100020, and in part by the Fundamental Research Funds for the Central Universities under Grant N2126004, and in part by the National Defense Preliminary Research Project under Grant 50911020604, and in part by the Liaoning Provincial Natural Science Foundation of China under Grant 2020-MS-031.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This work was supported in part by the National Natural Science Foundation of China under Grant 51809256, and in part by the Central Guidance on Local Science and Technology Development Fund of Liaoning Province under Grant 2022JH6/100100020, and in part by the Fundamental Research Funds for the Central Universities under Grant N2126004, and in part by the National Defense Preliminary Research Project under Grant 50911020604, and in part by the Liaoning Provincial Natural Science Foundation of China under Grant 2020-MS-031.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Wang, H., Feng, Y. & Wang, Z. Bounded controllers for LOS-based coordinated path following in networks of marine surface vehicles with delayed communications. Nonlinear Dyn 110, 413–430 (2022). https://doi.org/10.1007/s11071-022-07646-6

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11071-022-07646-6

Keywords

Search

Navigation