Guoqing Zhang;Shilin Yin;Chenfeng Huang;Weidong Zhang;Jiqiang Li
{"title":"通过多任务切换制导实现海洋牧场 AMV 的结构同步动态事件触发控制","authors":"Guoqing Zhang;Shilin Yin;Chenfeng Huang;Weidong Zhang;Jiqiang Li","doi":"10.1109/TITS.2024.3463181","DOIUrl":null,"url":null,"abstract":"To improve the autonomy of marine ranching operations, this paper addresses the cooperative formation control and multi-task switching problem of ranch autonomous marine vehicles (AMVs) with the structure synchronized dynamic event-triggered mechanism (DETM). In the proposed algorithm, adaptive potential ship (APS) technique is adopted to guarantee the integrity and continuity of the guidance signal. Combined with the guidance principle, a cooperative formation control algorithm is proposed by employing the DETM and neural networks (NNs). The communication burden in the channel from the sensor to the controller and from the controller to actuator has been reduced for the merits of the proposed DETM. Unlike the existing results, the proposed DETM can activate the threshold parameters, adaptive parameters and NNs weight estimators at the triggering times synchronously. This releases the computation burden greatly. Considerable effort has been made to guarantee the semi-globally uniformly ultimately bounded (SGUUB) stability via the Lyapunov theorem. Finally, two simulations consist of the marine ranching path following and comparative example are carried out to evaluate the advantages of the proposed strategy.","PeriodicalId":13416,"journal":{"name":"IEEE Transactions on Intelligent Transportation Systems","volume":"25 12","pages":"20295-20308"},"PeriodicalIF":7.9000,"publicationDate":"2024-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Structure Synchronized Dynamic Event-Triggered Control for Marine Ranching AMVs via the Multi-Task Switching Guidance\",\"authors\":\"Guoqing Zhang;Shilin Yin;Chenfeng Huang;Weidong Zhang;Jiqiang Li\",\"doi\":\"10.1109/TITS.2024.3463181\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"To improve the autonomy of marine ranching operations, this paper addresses the cooperative formation control and multi-task switching problem of ranch autonomous marine vehicles (AMVs) with the structure synchronized dynamic event-triggered mechanism (DETM). In the proposed algorithm, adaptive potential ship (APS) technique is adopted to guarantee the integrity and continuity of the guidance signal. Combined with the guidance principle, a cooperative formation control algorithm is proposed by employing the DETM and neural networks (NNs). The communication burden in the channel from the sensor to the controller and from the controller to actuator has been reduced for the merits of the proposed DETM. Unlike the existing results, the proposed DETM can activate the threshold parameters, adaptive parameters and NNs weight estimators at the triggering times synchronously. This releases the computation burden greatly. Considerable effort has been made to guarantee the semi-globally uniformly ultimately bounded (SGUUB) stability via the Lyapunov theorem. Finally, two simulations consist of the marine ranching path following and comparative example are carried out to evaluate the advantages of the proposed strategy.\",\"PeriodicalId\":13416,\"journal\":{\"name\":\"IEEE Transactions on Intelligent Transportation Systems\",\"volume\":\"25 12\",\"pages\":\"20295-20308\"},\"PeriodicalIF\":7.9000,\"publicationDate\":\"2024-10-04\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Transactions on Intelligent Transportation Systems\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10705349/\",\"RegionNum\":1,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, CIVIL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Intelligent Transportation Systems","FirstCategoryId":"5","ListUrlMain":"https://ieeexplore.ieee.org/document/10705349/","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, CIVIL","Score":null,"Total":0}
Structure Synchronized Dynamic Event-Triggered Control for Marine Ranching AMVs via the Multi-Task Switching Guidance
To improve the autonomy of marine ranching operations, this paper addresses the cooperative formation control and multi-task switching problem of ranch autonomous marine vehicles (AMVs) with the structure synchronized dynamic event-triggered mechanism (DETM). In the proposed algorithm, adaptive potential ship (APS) technique is adopted to guarantee the integrity and continuity of the guidance signal. Combined with the guidance principle, a cooperative formation control algorithm is proposed by employing the DETM and neural networks (NNs). The communication burden in the channel from the sensor to the controller and from the controller to actuator has been reduced for the merits of the proposed DETM. Unlike the existing results, the proposed DETM can activate the threshold parameters, adaptive parameters and NNs weight estimators at the triggering times synchronously. This releases the computation burden greatly. Considerable effort has been made to guarantee the semi-globally uniformly ultimately bounded (SGUUB) stability via the Lyapunov theorem. Finally, two simulations consist of the marine ranching path following and comparative example are carried out to evaluate the advantages of the proposed strategy.
期刊介绍:
The theoretical, experimental and operational aspects of electrical and electronics engineering and information technologies as applied to Intelligent Transportation Systems (ITS). Intelligent Transportation Systems are defined as those systems utilizing synergistic technologies and systems engineering concepts to develop and improve transportation systems of all kinds. The scope of this interdisciplinary activity includes the promotion, consolidation and coordination of ITS technical activities among IEEE entities, and providing a focus for cooperative activities, both internally and externally.