Formation Control and Obstacle Avoidance Design for Networked USV Swarm With Exogenous Disturbance Under Intermittent Communication

IF 6.7 2区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

IEEE Transactions on Network Science and Engineering Pub Date : 2025-04-08 DOI:10.1109/TNSE.2025.3558548

Zhenyu Chang;Guangdeng Zong;Wencheng Wang;Ming Yue;Xudong Zhao

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Abstract

This study addresses the formation control problem of under-actuated unmanned surface vehicle (USV) swarm systems and designs an obstacle avoidance strategy for navigating in obstacle environments. The intermittent communication scheme, consisting of the working period and the rest period, is introduced to reduce the communication burden and the consumption of control resources. A distributed formation control strategy is designed to guarantee the realization of the desired formation configuration. Considering the potential impact of obstacles in the operating environment, the artificial potential field repulsion obstacle avoidance method is embedded into the formation control strategy. To eliminate the impact of exogenous disturbances, a disturbance observer is established using the partially known disturbance information. Sufficient conditions are provided to ensure the uniformly ultimate boundedness of the formation error and disturbance observation error. In addition, an energy function related to the obstacle position information is designed to verify that the desired obstacle avoidance behavior can be achieved. The feasibility of theoretical analysis is validated by applying the developed control strategy to surface formation cruise missions.

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间歇通信条件下外源干扰网络USV群的编队控制与避障设计

研究了欠驱动无人水面飞行器（USV）群系统的编队控制问题，设计了一种障碍物环境下的避障策略。为了减少通信负担和控制资源的消耗，引入了工作时段和休息时段的间歇通信方案。设计了分布式地层控制策略，保证了理想地层配置的实现。考虑到作业环境中障碍物的潜在影响，将人工势场斥力避障方法嵌入编队控制策略中。为了消除外源扰动的影响，利用部分已知的扰动信息建立了扰动观测器。给出了保证地层误差和扰动观测误差最终有界一致的充分条件。此外，设计了与障碍物位置信息相关的能量函数，以验证是否能够实现期望的避障行为。将所提出的控制策略应用于水面编队巡航任务，验证了理论分析的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Network Science and Engineering Engineering-Control and Systems Engineering

CiteScore

12.60

自引率

9.10%

发文量

393

期刊介绍： The proposed journal, called the IEEE Transactions on Network Science and Engineering (TNSE), is committed to timely publishing of peer-reviewed technical articles that deal with the theory and applications of network science and the interconnections among the elements in a system that form a network. In particular, the IEEE Transactions on Network Science and Engineering publishes articles on understanding, prediction, and control of structures and behaviors of networks at the fundamental level. The types of networks covered include physical or engineered networks, information networks, biological networks, semantic networks, economic networks, social networks, and ecological networks. Aimed at discovering common principles that govern network structures, network functionalities and behaviors of networks, the journal seeks articles on understanding, prediction, and control of structures and behaviors of networks. Another trans-disciplinary focus of the IEEE Transactions on Network Science and Engineering is the interactions between and co-evolution of different genres of networks.