Containment control of multiple unmanned surface vessels with NN control via reconfigurable hierarchical topology

Frontiers in Computational Neuroscience

Neuroscience

Huiyu Xiao¹  Fei Teng¹  Wei Liu²  Chen Wang² 

[1] College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China;School of Navigation, Dalian Maritime University, Dalian, China;

关键词: containment control;    neural network control;    topology reconfiguration;    hierarchical communication topology;    LOS guidance;   

DOI  :  10.3389/fncom.2023.1284966

 received in 2023-08-29, accepted in 2023-09-25,  发布年份 2023

来源: Frontiers

【 摘 要 】

This paper investigates the containment control of multiple unmanned surface vessels with nonlinear dynamics. To solve the leader-follower synchronization problem in a containment control system, a hierarchical control framework with a topology reconfiguration mechanism is proposed, and the process of containment control is converted into the tracking of a reference signal for each vessel on its respective target heading by means of the light-of-sight (LOS) guidance. In a control system, the neural networks (NNs) are adopted to consider the uncertainty. In the follower layer, a connectivity controller with a topology reconfiguration mechanism is embedded, to change the converging positions of followers so as to avoid collision within the system, and to maintain the system connectivity when the communication equality is poor. The effectiveness of the hierarchical control framework proposed in this paper is valid by simulation.

【 授权许可】

Unknown   
Copyright © 2023 Liu, Teng, Xiao and Wang.