Formation Path Following Control of Underactuated USVs -- With Proofs

基于角度的欠驱动平面智能体编队跟踪

Angle-Based Formation Tracking of Underactuated Planar Agents

本文针对受扰动的异构平面欠驱动智能体，提出基于角度的编队跟踪控制方法，通过两种控制律实现渐近跟踪，并经USV仿真验证有效性。

Formation Path Following Control of Underactuated AUVs -- With Proofs

This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow curved paths while maintaining the desired formation. We investigate the dynamics of the path-following error using cascaded systems theory, and show that the closed-loop system is uniformly semi-globally exponentially stable. We validate the theoretical results through numerical simulations.

Path following of a class of underactuated mechanical systems via immersion and invariance-based orbital stabilization

This paper aims to provide a new problem formulation of path following for mechanical systems without time parameterization nor guidance laws, namely, we express the control objective as an orbital stabilization problem. It is shown that, it is possible to adapt the immersion and invariance technique to design static state-feedback controllers that solve the problem. In particular, we select the target dynamics adopting the recently introduced Mexican sombrero energy assignment method. To demonstrate the effectiveness of the proposed method we apply it to control underactuated marine surface v…

欠驱动AUV的无奇异性编队路径跟随：扩展版

Singularity-free Formation Path Following of Underactuated AUVs: Extended Version

本文提出一种欠驱动自主水下航行器编队路径跟随控制方法，通过基于零空间的行为算法结合分层任务实现碰撞规避与操作限制，利用旋转矩阵避免奇异性，并证明闭环系统一致半全局指数稳定。

Robust output-feedback VFO-ADR control of underactuated spatial vehicles in the task of following non-parametrized paths

This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded control structure decouples system kinematics from system dynamics, resembling the approach utilized for nonholonomic systems. Thanks to the use of an ADR control approach in the dynamic-level controller, the proposed control structure is robust to even significant model uncertainties and external disturbances. Application of an error-based form of the Exte…

基于改进ESO的欠驱动自主水下直升机路径跟随视线导引律：结合非线性跟踪微分器与抗饱和控制器

An Improved ESO-Based Line-of-Sight Guidance Law for Path Following of Underactuated Autonomous Underwater Helicopter With Nonlinear Tracking Differentiator and Anti-saturation Controller

本文提出了一种结合非线性跟踪微分器与抗饱和控制器的改进ESO视线导引律，解决了欠驱动自主水下直升机在快速变化下的侧滑角跟踪问题，并验证了其在低带宽下的优越性能。