This paper investigates a formation keeping and multi-attacker interception problem of autonomous surface vehicles (ASVs) with partial actuator faults. Based on graph theory, backstepping and adaptive techniques, a new adaptive fault-tolerant formation control scheme including the interception of attackers is developed. First, distributed formation control laws are designed with local position interaction. Second, a degree driven formation interception (DDFI) algorithm is used to determine defenders. Third, adaptive interception control laws are derived only by position vectors of attackers. It is shown that using the proposed scheme, desired formation configurations are achieved and multiple attackers are intercepted if original interaction topology of ASVs is connected. Main advantage of this scheme is that formation controllers of remaining ASVs except defenders needn’t to be redesigned faced with attackers. Simulations are presented to verify our theoretical results.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Adaptive Formation Keeping and Interception of Autonomous Surface Vehicles with Partial Actuator Faults


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Yu, Xiang (Herausgeber:in) / Lu, Yu (Autor:in) / Cheng, Xiaotong (Autor:in) / Luo, Rong (Autor:in) / Zhang, Weidong (Autor:in)


    Erscheinungsdatum :

    30.10.2021


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Adaptive Formation Keeping and Interception of Autonomous Surface Vehicles with Partial Actuator Faults

    Lu, Yu / Cheng, Xiaotong / Luo, Rong et al. | British Library Conference Proceedings | 2022



    Interception algorithm for autonomous vehicles with imperfect information

    Hickman, Randal E | DSpace@MIT | 2005

    Freier Zugriff

    Lane keeping for autonomous vehicles

    HARDA PETER / WESTLUND MATHIAS | Europäisches Patentamt | 2021

    Freier Zugriff

    LANE KEEPING FOR AUTONOMOUS VEHICLES

    HARDÅ PETER / WESTLUND MATHIAS | Europäisches Patentamt | 2024

    Freier Zugriff