A Design of Leaderless Formation Controller for Multi-ASVs with Sampled Data and Communication Delay
The formation control technology of the multi-ASV (autonomous surface vehicle) system is one of the key technologies required for performing maritime missions. In this paper, a leaderless formation controller is proposed, where the issues of sampled communication and data transmission delays in form...
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MDPI AG
2025-06-01
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| Series: | Journal of Marine Science and Engineering |
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| author | Wenxu Zhu Guihua Xia Xiangli Jiang |
| author_facet | Wenxu Zhu Guihua Xia Xiangli Jiang |
| author_sort | Wenxu Zhu |
| collection | DOAJ |
| description | The formation control technology of the multi-ASV (autonomous surface vehicle) system is one of the key technologies required for performing maritime missions. In this paper, a leaderless formation controller is proposed, where the issues of sampled communication and data transmission delays in formation are taken into consideration. By introducing the desired displacements and the implicit formation center (IFC), the control goal of the leaderless formation is explicitly defined. Through the application of a state-space transformation, the achievement of the leaderless formation is shown to be equivalent to the stabilization of the transformed subsystem. The implicit formation center of the leaderless framework is derived, which facilitates the description and analysis of formation movements. The stability of the system is rigorously analyzed by using the Lyapunov–Krasovskii functional. Furthermore, an <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mi>H</mi><mo>∞</mo></msub></semantics></math></inline-formula> performance controller is designed to evaluate the tolerance of the leaderless formation against marine environmental disturbances. Numerical simulations with 10 ASVs under sampled communication and transmission delay demonstrate the effectiveness of the proposed controller, achieving an <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mi>H</mi><mo>∞</mo></msub></semantics></math></inline-formula> performance bound <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>γ</mi></semantics></math></inline-formula> of 10. |
| format | Article |
| id | doaj-art-1eea7a9e0bc4407ebcf5a7e4452a27e6 |
| institution | Kabale University |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
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| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-1eea7a9e0bc4407ebcf5a7e4452a27e62025-08-20T03:58:30ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-06-01137125910.3390/jmse13071259A Design of Leaderless Formation Controller for Multi-ASVs with Sampled Data and Communication DelayWenxu Zhu0Guihua Xia1Xiangli Jiang2College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaThe formation control technology of the multi-ASV (autonomous surface vehicle) system is one of the key technologies required for performing maritime missions. In this paper, a leaderless formation controller is proposed, where the issues of sampled communication and data transmission delays in formation are taken into consideration. By introducing the desired displacements and the implicit formation center (IFC), the control goal of the leaderless formation is explicitly defined. Through the application of a state-space transformation, the achievement of the leaderless formation is shown to be equivalent to the stabilization of the transformed subsystem. The implicit formation center of the leaderless framework is derived, which facilitates the description and analysis of formation movements. The stability of the system is rigorously analyzed by using the Lyapunov–Krasovskii functional. Furthermore, an <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mi>H</mi><mo>∞</mo></msub></semantics></math></inline-formula> performance controller is designed to evaluate the tolerance of the leaderless formation against marine environmental disturbances. Numerical simulations with 10 ASVs under sampled communication and transmission delay demonstrate the effectiveness of the proposed controller, achieving an <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mi>H</mi><mo>∞</mo></msub></semantics></math></inline-formula> performance bound <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>γ</mi></semantics></math></inline-formula> of 10.https://www.mdpi.com/2077-1312/13/7/1259multi autonomous surface vehiclesleaderless formationsampling datatime delayH<sub>∞</sub> performance |
| spellingShingle | Wenxu Zhu Guihua Xia Xiangli Jiang A Design of Leaderless Formation Controller for Multi-ASVs with Sampled Data and Communication Delay Journal of Marine Science and Engineering multi autonomous surface vehicles leaderless formation sampling data time delay H<sub>∞</sub> performance |
| title | A Design of Leaderless Formation Controller for Multi-ASVs with Sampled Data and Communication Delay |
| title_full | A Design of Leaderless Formation Controller for Multi-ASVs with Sampled Data and Communication Delay |
| title_fullStr | A Design of Leaderless Formation Controller for Multi-ASVs with Sampled Data and Communication Delay |
| title_full_unstemmed | A Design of Leaderless Formation Controller for Multi-ASVs with Sampled Data and Communication Delay |
| title_short | A Design of Leaderless Formation Controller for Multi-ASVs with Sampled Data and Communication Delay |
| title_sort | design of leaderless formation controller for multi asvs with sampled data and communication delay |
| topic | multi autonomous surface vehicles leaderless formation sampling data time delay H<sub>∞</sub> performance |
| url | https://www.mdpi.com/2077-1312/13/7/1259 |
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