Matches in SemOpenAlex for { <https://semopenalex.org/work/W4224273640> ?p ?o ?g. }
- W4224273640 endingPage "516" @default.
- W4224273640 startingPage "516" @default.
- W4224273640 abstract "In this paper, the formation control problem for a group of unmanned underwater vehicles (UUVs) is investigated considering collision avoidance and environment disturbances. To address the external force effect of the environment, such as waves and currents, a sliding mode disturbance observer is designed to compensate for the unknown dynamic disturbances in finite time. A bounded artificial potential field is incorporated into the control law to ensure collision avoidance among UUVs. The form of an artificial potential function is much simpler and convenient for engineering applications. A controller is devised to guarantee all the error signals are bounded, and the formation pattern can be achieved in finite time after collision avoidance. The stability of UUV formation with collision avoidance is proven by using the Lyapunov theorem, and the scheme has been shown to be convergent using Barbalat’s lemma. Comparative simulations are presented to demonstrate the effectiveness of the proposed method in 2-D and 3-D environments." @default.
- W4224273640 created "2022-04-26" @default.
- W4224273640 creator A5007911448 @default.
- W4224273640 creator A5017411379 @default.
- W4224273640 creator A5043626683 @default.
- W4224273640 date "2022-04-08" @default.
- W4224273640 modified "2023-10-18" @default.
- W4224273640 title "Adaptive Formation Control of Unmanned Underwater Vehicles with Collision Avoidance under Unknown Disturbances" @default.
- W4224273640 cites W1998854367 @default.
- W4224273640 cites W2068093684 @default.
- W4224273640 cites W2083205579 @default.
- W4224273640 cites W2129275525 @default.
- W4224273640 cites W2567151022 @default.
- W4224273640 cites W2567444783 @default.
- W4224273640 cites W2572726358 @default.
- W4224273640 cites W2609557462 @default.
- W4224273640 cites W2619823627 @default.
- W4224273640 cites W2724118617 @default.
- W4224273640 cites W2726943434 @default.
- W4224273640 cites W2736840182 @default.
- W4224273640 cites W2780134511 @default.
- W4224273640 cites W2780149228 @default.
- W4224273640 cites W2782002518 @default.
- W4224273640 cites W2784631007 @default.
- W4224273640 cites W2787504052 @default.
- W4224273640 cites W2804761573 @default.
- W4224273640 cites W2805876287 @default.
- W4224273640 cites W2806070934 @default.
- W4224273640 cites W2890845531 @default.
- W4224273640 cites W2907850129 @default.
- W4224273640 cites W2938228337 @default.
- W4224273640 cites W2965775214 @default.
- W4224273640 cites W2971389823 @default.
- W4224273640 cites W2982321573 @default.
- W4224273640 cites W3005525642 @default.
- W4224273640 cites W3010996182 @default.
- W4224273640 cites W3011461418 @default.
- W4224273640 cites W3013793781 @default.
- W4224273640 cites W3021931097 @default.
- W4224273640 cites W3083824892 @default.
- W4224273640 doi "https://doi.org/10.3390/jmse10040516" @default.
- W4224273640 hasPublicationYear "2022" @default.
- W4224273640 type Work @default.
- W4224273640 citedByCount "1" @default.
- W4224273640 countsByYear W42242736402022 @default.
- W4224273640 crossrefType "journal-article" @default.
- W4224273640 hasAuthorship W4224273640A5007911448 @default.
- W4224273640 hasAuthorship W4224273640A5017411379 @default.
- W4224273640 hasAuthorship W4224273640A5043626683 @default.
- W4224273640 hasBestOaLocation W42242736401 @default.
- W4224273640 hasConcept C111368507 @default.
- W4224273640 hasConcept C121332964 @default.
- W4224273640 hasConcept C121704057 @default.
- W4224273640 hasConcept C127313418 @default.
- W4224273640 hasConcept C134306372 @default.
- W4224273640 hasConcept C154945302 @default.
- W4224273640 hasConcept C158622935 @default.
- W4224273640 hasConcept C203479927 @default.
- W4224273640 hasConcept C2775924081 @default.
- W4224273640 hasConcept C2776829284 @default.
- W4224273640 hasConcept C2777016798 @default.
- W4224273640 hasConcept C2780864053 @default.
- W4224273640 hasConcept C33923547 @default.
- W4224273640 hasConcept C34388435 @default.
- W4224273640 hasConcept C38652104 @default.
- W4224273640 hasConcept C41008148 @default.
- W4224273640 hasConcept C47446073 @default.
- W4224273640 hasConcept C60640748 @default.
- W4224273640 hasConcept C62520636 @default.
- W4224273640 hasConcept C6557445 @default.
- W4224273640 hasConcept C86803240 @default.
- W4224273640 hasConcept C98083399 @default.
- W4224273640 hasConceptScore W4224273640C111368507 @default.
- W4224273640 hasConceptScore W4224273640C121332964 @default.
- W4224273640 hasConceptScore W4224273640C121704057 @default.
- W4224273640 hasConceptScore W4224273640C127313418 @default.
- W4224273640 hasConceptScore W4224273640C134306372 @default.
- W4224273640 hasConceptScore W4224273640C154945302 @default.
- W4224273640 hasConceptScore W4224273640C158622935 @default.
- W4224273640 hasConceptScore W4224273640C203479927 @default.
- W4224273640 hasConceptScore W4224273640C2775924081 @default.
- W4224273640 hasConceptScore W4224273640C2776829284 @default.
- W4224273640 hasConceptScore W4224273640C2777016798 @default.
- W4224273640 hasConceptScore W4224273640C2780864053 @default.
- W4224273640 hasConceptScore W4224273640C33923547 @default.
- W4224273640 hasConceptScore W4224273640C34388435 @default.
- W4224273640 hasConceptScore W4224273640C38652104 @default.
- W4224273640 hasConceptScore W4224273640C41008148 @default.
- W4224273640 hasConceptScore W4224273640C47446073 @default.
- W4224273640 hasConceptScore W4224273640C60640748 @default.
- W4224273640 hasConceptScore W4224273640C62520636 @default.
- W4224273640 hasConceptScore W4224273640C6557445 @default.
- W4224273640 hasConceptScore W4224273640C86803240 @default.
- W4224273640 hasConceptScore W4224273640C98083399 @default.
- W4224273640 hasIssue "4" @default.
- W4224273640 hasLocation W42242736401 @default.
- W4224273640 hasOpenAccess W4224273640 @default.
- W4224273640 hasPrimaryLocation W42242736401 @default.