Containment maneuvering of marine surface vessels

Zhouhua Peng, Jun Wang, Dan Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

The containment maneuvering problem involves two tasks. The first, called the geometric formation task, is to force the vessel outputs to converge to convex hull spanned by multiple parameterized paths. The second task, called the dynamic task, is to satisfy a desired dynamic behavior along the paths. A modular design approach is presented to develop the adaptive containment maneuvering controllers. Specifically, a predictor module using echo state network is proposed for estimating the model uncertainty and ocean disturbances, which is able to identify the vessel dynamics as fast as possible. Then, a controller module is designed based on a modified dynamic surface control technique. The stability of the closed-loop network system is established via cascade theory. The proposed design results in decoupled estimate and control, and can achieve fast adaptation without incurring high-frequency signals.

Original languageEnglish
Title of host publication6th International Conference on Information Science and Technology, ICIST 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages352-357
Number of pages6
ISBN (Electronic)9781509012206
DOIs
Publication statusPublished - 1 Jun 2016
Externally publishedYes
Event6th International Conference on Information Science and Technology, ICIST 2016 - Dalian, China
Duration: 6 May 20168 May 2016

Publication series

Name6th International Conference on Information Science and Technology, ICIST 2016

Conference

Conference6th International Conference on Information Science and Technology, ICIST 2016
Country/TerritoryChina
CityDalian
Period6/05/168/05/16

Keywords

  • containment maneuvering
  • dynamic surface control
  • echo state network
  • marine vessels
  • modular Design
  • predictor

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