Containment maneuvering of marine surface vessels
Zhouhua Peng, Jun Wang, Dan Wang · 2016
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.