Containment Maneuvering of Marine Surface Vehicles With Multiple Parameterized Paths via Spatial-Temporal Decoupling

• Published in: IEEE/ASME transactions on mechatronics Vol. 22; no. 2; pp. 1026 - 1036
• Main Authors: Peng, Zhouhua, Wang, Jun, Wang, Dan
• Format: Journal Article
• Language: English
• Published: New York IEEE 01-04-2017; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Comparative studies; Containment; Containment maneuvering; Convexity; Decoupling; Design methodology; dynamic surface control (DSC); Error feedback; Hulls; Marine vehicles; Modular design; Modules; Parameterization; recurrent neural network (RNN); Recurrent neural networks; spatial-temporal decoupling; Surface vehicles; Synchronization; Tracking; tracking differentiator (TD); Uncertainty; Vehicle dynamics; Vehicles
• ISSN: 1083-4435; 1941-014X
• DOI: 10.1109/TMECH.2016.2632304

The containment maneuvering of marine surface vehicles has two objectives. The first one is to force the marine vehicles to follow a convex hull spanned by multiple parameterized paths. The second one is to meet the requirement of a desired dynamic behavior along multiple paths during containment. A modular design approach to the containment maneuvering of marine surface vehicles is presented. At first, an estimator module using a recurrent neural network is proposed to estimate the unknown kinetics induced by model uncertainty, unmodeled dynamics, and environmental disturbances. Next, a controller module is developed based on a distributed path maneuvering design and a linear tracking differentiator. Finally, two path update laws based on a maneuvering error feedback and a filtering update scheme, respectively, are constructed. The estimator-controller pair forms a cascade system, which is proved to be input-to-state stable. The developed controller has a desirable spatial-temporal decoupling property, and geometric and dynamic objectives can be achieved separately. Results of comparative studies are provided to substantiate the efficacy of the proposed method.