Related papers: Formation Path Following Control of Underactuated …
This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…
This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while accounting for high-fidelity aerodynamics and thrust dynamics.…
The focus of this paper is to develop a methodology that enables an unmanned surface vehicle (USV) to efficiently track a planned path. The introduction of a vector field-based adaptive line of-sight guidance law (VFALOS) for accurate…
In this article a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. The path is parametrised by a path variable that is used to propagate a path-tangential…
Angle-constrained formation control has attracted much attention from control community due to the advantage that inter-edge angles are invariant under uniform translations, rotations, and scalings of the whole formation. However, almost…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
Unmanned Surface Vehicles (USVs) play a pivotal role in various applications, including surface rescue, commercial transactions, scientific exploration, water rescue, and military operations. The effective control of high-speed unmanned…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…
An intelligent control strategy is proposed to eliminate the actuator saturation problem that exists in the trajectory tracking process of unmanned underwater vehicles (UUV). The control strategy consists of two parts: for the kinematic…
Generally, the normal displacement-based formation control has a sensing mode that requires the agent not only to have certain knowledge of its direction, but also to gather its local information characterized by nonnegative coupling…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…
In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop…
This paper develops a novel physics-inspired traffic coordination approach and applies it to Unmanned Aircraft System (UAS) traffic management. We extend available physics-inspired approaches previously applied to 1-D traffic flow on…
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Specifically, we introduce three controlled variables…
Unmanned aerial vehicle (UAV) with slung load system is a classic air transportation system. In practical applications, the suspension point of the slung load does not always align with the center of mass (CoM) of the UAV due to mission…
This paper proposes a distributed guiding-vector-field (DGVF) controller for cross-domain unmanned systems (CDUSs) consisting of heterogeneous unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs), to achieve coordinated…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
The widespread use of unmanned aerial vehicles (UAVs) by the military, commercial companies, and academia continues to push research for autonomous vehicle navigation, particularly in varying environmental conditions and…