USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance Observer
Facing the three-dimensional, diverse, and complex underwater detection task, this paper proposed an unmanned surface vehicle-autonomous underwater vehicle (USV-AUV) cross-domain heterogeneous cooperative control strategy based on the leader-follower method. First, the control strategy takes into ac...
| Published in: | Shanghai Jiaotong Daxue xuebao |
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| Main Author: | |
| Format: | Article |
| Language: | Chinese |
| Published: |
Editorial Office of Journal of Shanghai Jiao Tong University
2023-10-01
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| Subjects: | |
| Online Access: | https://xuebao.sjtu.edu.cn/article/2023/1006-2467/1006-2467-57-S1-114.shtml |
| _version_ | 1851908286370021376 |
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| author | YU Te, LIU Jiapeng, WU Chao, ZHOU Chang, ZHOU Shengzeng, WANG Lei |
| author_facet | YU Te, LIU Jiapeng, WU Chao, ZHOU Chang, ZHOU Shengzeng, WANG Lei |
| author_sort | YU Te, LIU Jiapeng, WU Chao, ZHOU Chang, ZHOU Shengzeng, WANG Lei |
| collection | DOAJ |
| container_title | Shanghai Jiaotong Daxue xuebao |
| description | Facing the three-dimensional, diverse, and complex underwater detection task, this paper proposed an unmanned surface vehicle-autonomous underwater vehicle (USV-AUV) cross-domain heterogeneous cooperative control strategy based on the leader-follower method. First, the control strategy takes into account the dynamic modeling error caused by factors such as unknown environmental disturbances, and designs a non-linear disturbance observer to estimate the influence. Then, the dynamic adaptive look-ahead distance is used to improve the LOS method, which can solve the formation control problem of underactuated vehicles. The USV-AUV formation control problem is rebuilt based on the cascaded system. The AUV following controller is designed through feedback linearization. Finally, the whole system is improved uniformly, globally, and asymptoticly stable by the Lyapunov theory. The USV-AUV lake test verifies the effectiveness of the formation control strategy. |
| format | Article |
| id | doaj-art-2aedea4ddd35425aa799fb7c7fc45e12 |
| institution | Directory of Open Access Journals |
| issn | 1006-2467 |
| language | zho |
| publishDate | 2023-10-01 |
| publisher | Editorial Office of Journal of Shanghai Jiao Tong University |
| record_format | Article |
| spelling | doaj-art-2aedea4ddd35425aa799fb7c7fc45e122025-08-19T22:02:57ZzhoEditorial Office of Journal of Shanghai Jiao Tong UniversityShanghai Jiaotong Daxue xuebao1006-24672023-10-0157S111412310.16183/j.cnki.jsjtu.2023.S1.25USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance ObserverYU Te, LIU Jiapeng, WU Chao, ZHOU Chang, ZHOU Shengzeng, WANG Lei01. Shanghai Marine Electronic Equipment Research Institute, Shanghai 201108, China;2. Science and Technology on Underwater Acoustics Antagonizing Laboratory, Shanghai 201108, China;3. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaFacing the three-dimensional, diverse, and complex underwater detection task, this paper proposed an unmanned surface vehicle-autonomous underwater vehicle (USV-AUV) cross-domain heterogeneous cooperative control strategy based on the leader-follower method. First, the control strategy takes into account the dynamic modeling error caused by factors such as unknown environmental disturbances, and designs a non-linear disturbance observer to estimate the influence. Then, the dynamic adaptive look-ahead distance is used to improve the LOS method, which can solve the formation control problem of underactuated vehicles. The USV-AUV formation control problem is rebuilt based on the cascaded system. The AUV following controller is designed through feedback linearization. Finally, the whole system is improved uniformly, globally, and asymptoticly stable by the Lyapunov theory. The USV-AUV lake test verifies the effectiveness of the formation control strategy.https://xuebao.sjtu.edu.cn/article/2023/1006-2467/1006-2467-57-S1-114.shtmlunmanned surface vehicle (usv)autonomous underwater vehicle (auv)cooperative controlnonlinear disturbance observer |
| spellingShingle | YU Te, LIU Jiapeng, WU Chao, ZHOU Chang, ZHOU Shengzeng, WANG Lei USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance Observer unmanned surface vehicle (usv) autonomous underwater vehicle (auv) cooperative control nonlinear disturbance observer |
| title | USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance Observer |
| title_full | USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance Observer |
| title_fullStr | USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance Observer |
| title_full_unstemmed | USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance Observer |
| title_short | USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance Observer |
| title_sort | usv and auv cooperative control strategy based on nonlinear disturbance observer |
| topic | unmanned surface vehicle (usv) autonomous underwater vehicle (auv) cooperative control nonlinear disturbance observer |
| url | https://xuebao.sjtu.edu.cn/article/2023/1006-2467/1006-2467-57-S1-114.shtml |
| work_keys_str_mv | AT yuteliujiapengwuchaozhouchangzhoushengzengwanglei usvandauvcooperativecontrolstrategybasedonnonlineardisturbanceobserver |