Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme

This paper addresses the formation motion control of heterogeneous multi-agent unmanned systems via a distributed consensus approach. The considered heterogeneous system consisted of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs). A leader-following consensus scheme and APF met...

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Autores principales:	Kai Xue, Tingyi Wu
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	heterogeneous multi-agent unmanned system UAV-USVs cooperative control leader-following consensus “hawk-eye” like view sliding mode control Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581
Acceso en línea:	https://doaj.org/article/02fb9615c23a4cf4bc377541941a9583
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spelling	oai:doaj.org-article:02fb9615c23a4cf4bc377541941a95832021-11-25T18:05:24ZDistributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme10.3390/jmse91113142077-1312https://doaj.org/article/02fb9615c23a4cf4bc377541941a95832021-11-01T00:00:00Zhttps://www.mdpi.com/2077-1312/9/11/1314https://doaj.org/toc/2077-1312This paper addresses the formation motion control of heterogeneous multi-agent unmanned systems via a distributed consensus approach. The considered heterogeneous system consisted of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs). A leader-following consensus scheme and APF method are used to construct UAV-USVs Formation task requirements. A fuzzy-based sliding mode control approach is proposed to ensure the formation assembles in a finite time, and the finite-time stability is proved by the Lyapunov stability theorem. To highlight the cooperation within the heterogeneous systems, such as UAV and USV, a novel vision-based path re-planning approach is proposed. Simulation results confirm the efficiency of the proposed approach.Kai XueTingyi WuMDPI AGarticleheterogeneous multi-agent unmanned systemUAV-USVscooperative controlleader-following consensus“hawk-eye” like viewsliding mode controlNaval architecture. Shipbuilding. Marine engineeringVM1-989OceanographyGC1-1581ENJournal of Marine Science and Engineering, Vol 9, Iss 1314, p 1314 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	heterogeneous multi-agent unmanned system UAV-USVs cooperative control leader-following consensus “hawk-eye” like view sliding mode control Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581
spellingShingle	heterogeneous multi-agent unmanned system UAV-USVs cooperative control leader-following consensus “hawk-eye” like view sliding mode control Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581 Kai Xue Tingyi Wu Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme
description	This paper addresses the formation motion control of heterogeneous multi-agent unmanned systems via a distributed consensus approach. The considered heterogeneous system consisted of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs). A leader-following consensus scheme and APF method are used to construct UAV-USVs Formation task requirements. A fuzzy-based sliding mode control approach is proposed to ensure the formation assembles in a finite time, and the finite-time stability is proved by the Lyapunov stability theorem. To highlight the cooperation within the heterogeneous systems, such as UAV and USV, a novel vision-based path re-planning approach is proposed. Simulation results confirm the efficiency of the proposed approach.
format	article
author	Kai Xue Tingyi Wu
author_facet	Kai Xue Tingyi Wu
author_sort	Kai Xue
title	Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme
title_short	Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme
title_full	Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme
title_fullStr	Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme
title_full_unstemmed	Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme
title_sort	distributed consensus of usvs under heterogeneous uav-usv multi-agent systems cooperative control scheme
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/02fb9615c23a4cf4bc377541941a9583
work_keys_str_mv	AT kaixue distributedconsensusofusvsunderheterogeneousuavusvmultiagentsystemscooperativecontrolscheme AT tingyiwu distributedconsensusofusvsunderheterogeneousuavusvmultiagentsystemscooperativecontrolscheme
_version_	1718411600404152320

Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme

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