Robust Consensus Optimal Control of Unmanned Surface Vehicles

Zhuo Zhang; Huiping Li

doi:10.1109/ICCA51439.2020.9264469

Robust Consensus Optimal Control of Unmanned Surface Vehicles

Zhuo Zhang, Huiping Li

School of Marine Science and Technology

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper is concerned with the robust optimal control of uncertain multi-agent systems (MASs) with linearized unmanned surface vehicle (USV) models. Kinematics and dynamics of USVs are linearized as plant models of MASs, and a leaderless consensus control protocol is presented. Moreover, the robust optimization of performance index can be guaranteed by the presented protocol. Numerical example is provided to show the effectiveness of presented protocol.

Original language	English
Title of host publication	2020 IEEE 16th International Conference on Control and Automation, ICCA 2020
Publisher	IEEE Computer Society
Pages	129-134
Number of pages	6
ISBN (Electronic)	9781728190938
DOIs	https://doi.org/10.1109/ICCA51439.2020.9264469
State	Published - 9 Oct 2020
Event	16th IEEE International Conference on Control and Automation, ICCA 2020 - Virtual, Sapporo, Hokkaido, Japan Duration: 9 Oct 2020 → 11 Oct 2020

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
Volume	2020-October
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	16th IEEE International Conference on Control and Automation, ICCA 2020
Country/Territory	Japan
City	Virtual, Sapporo, Hokkaido
Period	9/10/20 → 11/10/20

Keywords

Consensus control
multi-agent systems (MASs)
robust optimal control
unmanned surface vehicles (USVs)

Access to Document

10.1109/ICCA51439.2020.9264469

Cite this

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title = "Robust Consensus Optimal Control of Unmanned Surface Vehicles",

abstract = "This paper is concerned with the robust optimal control of uncertain multi-agent systems (MASs) with linearized unmanned surface vehicle (USV) models. Kinematics and dynamics of USVs are linearized as plant models of MASs, and a leaderless consensus control protocol is presented. Moreover, the robust optimization of performance index can be guaranteed by the presented protocol. Numerical example is provided to show the effectiveness of presented protocol.",

keywords = "Consensus control, multi-agent systems (MASs), robust optimal control, unmanned surface vehicles (USVs)",

author = "Zhuo Zhang and Huiping Li",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 16th IEEE International Conference on Control and Automation, ICCA 2020 ; Conference date: 09-10-2020 Through 11-10-2020",

year = "2020",

month = oct,

day = "9",

doi = "10.1109/ICCA51439.2020.9264469",

language = "英语",

series = "IEEE International Conference on Control and Automation, ICCA",

publisher = "IEEE Computer Society",

pages = "129--134",

booktitle = "2020 IEEE 16th International Conference on Control and Automation, ICCA 2020",

}

Zhang, Z & Li, H 2020, Robust Consensus Optimal Control of Unmanned Surface Vehicles. in 2020 IEEE 16th International Conference on Control and Automation, ICCA 2020., 9264469, IEEE International Conference on Control and Automation, ICCA, vol. 2020-October, IEEE Computer Society, pp. 129-134, 16th IEEE International Conference on Control and Automation, ICCA 2020, Virtual, Sapporo, Hokkaido, Japan, 9/10/20. https://doi.org/10.1109/ICCA51439.2020.9264469

Robust Consensus Optimal Control of Unmanned Surface Vehicles. / Zhang, Zhuo; Li, Huiping.
2020 IEEE 16th International Conference on Control and Automation, ICCA 2020. IEEE Computer Society, 2020. p. 129-134 9264469 (IEEE International Conference on Control and Automation, ICCA; Vol. 2020-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper is concerned with the robust optimal control of uncertain multi-agent systems (MASs) with linearized unmanned surface vehicle (USV) models. Kinematics and dynamics of USVs are linearized as plant models of MASs, and a leaderless consensus control protocol is presented. Moreover, the robust optimization of performance index can be guaranteed by the presented protocol. Numerical example is provided to show the effectiveness of presented protocol.

AB - This paper is concerned with the robust optimal control of uncertain multi-agent systems (MASs) with linearized unmanned surface vehicle (USV) models. Kinematics and dynamics of USVs are linearized as plant models of MASs, and a leaderless consensus control protocol is presented. Moreover, the robust optimization of performance index can be guaranteed by the presented protocol. Numerical example is provided to show the effectiveness of presented protocol.

KW - Consensus control

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ER -

Robust Consensus Optimal Control of Unmanned Surface Vehicles

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Keywords

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