Coordinated target-enclosing of underactuated marine surface vehicles
Lu Liu, Dan Wang, Zhouhua Peng · 2016
A cyclic pursuit-based path following scheme is proposed to achieve the coordinated target enclosing using a group of underactuated marine surface vehicles (MSVs). Specifically, a line-of-sight based path following controller is firstly derived to force each vehicle to follow a parameterized path around the target. Then, a distributed path variable coordination control law is developed based on a cyclic pursuit approach such that the vehicles can evenly spread on a closed curve, which takes the circular formation pattern as a special case. Moveover, the time-varying sideslip angle due to environmental disturbances can be exactly identified by a reduced-order extend state observer. The input-to-state stability of the closed-loop network system is established via cascade theory. Simulation results demonstrate the effectiveness of the new coordinated target-enclosing method.