Single USV Enclosing Control
- To slove the enclosing control problem of multiple unmanned surface vehicles (USVs) without the velocity information of the target, a cooperative enclosing control protocol is presented to achieve that a single USV can enclosing the moving target with collision avoidance and connectivity maintanence.
- Barrier Lyapunov functions (BLFs) are introduced to ensure these relative distance and angle constraints in this research.
- Numerical simulation results, 3D Unreal Engine simulation results and real experiments demonstrate the performance of the proposed control protocol.
More detailed videos will be available on this page soon or contact me.
Multi-USVs Enclosing Control
- Compared with the Single USV , it is obvious that multiple USVs has more advantages on enclosing the moving target. And the cooperative enclosing motions of multiple USVs are determined by maintaining the target-vehicle relative distance constraints and the inter-vehicle angle constraints.
- A cooperative enclosing control protocol is presented to achieve that all USVs converge to the desired spacing from neighboring vehicles while guaranteeing prescribed transient and steady-state performance.
- The Prescribed Performance Control(PPC) technology ensures the convergence speed and accuracy of the error.
- Numerical simulation results, 3D Unreal Engine simulation results and real experiments demonstrate the performance of the proposed control protocol.
More detailed videos will be available on this page soon or contact me.
