A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles

A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles

This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with dist...

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Bibliographic Details
Main Authors: Xiao Liang, Xingru Qu, Ning Wang, Ye Li, Rubo Zhang
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Unmanned marine vehicles
swarm control
velocity observer
center-of-swarm guidance
fuzzy sliding mode
Online Access:https://ieeexplore.ieee.org/document/8793071/

Internet

https://ieeexplore.ieee.org/document/8793071/

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