TY - GEN
T1 - A mean square containment algorithm for unmanned surface vessels
AU - Lu, Xutan
AU - Wu, Yanxuan
AU - Wang, Zhengjie
AU - Cao, Haozhe
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - There are extensive civil and military applications of USVs(unmanned surface vessel), this paper focuses on the marine surveying and mapping application and analyzes the advantages of multi-USV cluster surveying and mapping, doing main research on one of many key technologies-multi-USV cluster control. Firstly, the structure of cluster controller is optimized. Then, the cluster problem of USVs is described by mathematical model and a mean square containment cluster control algorithm based on leader-follower strategy is designed, achieving the effect that we can control the entire cluster motion by only controlling the leaders' motion. Finally, the effectiveness of the algorithm is verified in numerical simulation in the case of ideal communication and communication with delays.
AB - There are extensive civil and military applications of USVs(unmanned surface vessel), this paper focuses on the marine surveying and mapping application and analyzes the advantages of multi-USV cluster surveying and mapping, doing main research on one of many key technologies-multi-USV cluster control. Firstly, the structure of cluster controller is optimized. Then, the cluster problem of USVs is described by mathematical model and a mean square containment cluster control algorithm based on leader-follower strategy is designed, achieving the effect that we can control the entire cluster motion by only controlling the leaders' motion. Finally, the effectiveness of the algorithm is verified in numerical simulation in the case of ideal communication and communication with delays.
KW - Unmanned surface vessel
KW - cluster
KW - mean square containment control
UR - http://www.scopus.com/inward/record.url?scp=85080906990&partnerID=8YFLogxK
U2 - 10.1109/ICUS48101.2019.8995949
DO - 10.1109/ICUS48101.2019.8995949
M3 - Conference contribution
AN - SCOPUS:85080906990
T3 - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
SP - 569
EP - 574
BT - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
Y2 - 17 October 2019 through 19 October 2019
ER -
