Safety-Critical Model-Free Control for Multi-Target Tracking of USVs with Collision Avoidance

作     者：Shengnan Gao Zhouhua Peng Haoliang Wang Lu Liu Dan Wang Shengnan Gao;Zhouhua Peng;Haoliang Wang;Lu Liu;Dan Wang

作者机构：School of Marine Electrical EngineeringDalian Maritime UniversityDalian 116026China School of Marine EngineeringDalian Maritime UniversityDalian 116026China IEEE 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2022年第9卷第7期

页      面：1323-1326页

核心收录：

学科分类：08[工学] 081104[工学-模式识别与智能系统] 082402[工学-轮机工程] 0824[工学-船舶与海洋工程] 0811[工学-控制科学与工程] 

基　　金：This work was supported in part by the National Natural Science Foundation of China(51979020,51909021,51939001,52071044) the Top-notch Young Talents Program of China(36261402) the Liaoning Revitalization Talents Program(XLYC2007188) the Science and Technology Fund for Distinguished Young Scholars of Dalian(2018RJ08) the Basic Scientific Research in Colleges and Universities of Liaoning Provincial Education Department(LJKQZ2021007) the Funda-mental Research Funds for the Central Universities. 

主　　题：stationary collision totally 

摘      要：Dear editor,This letter addresses the multi-target tracking of underactuated unmanned surface vehicles(USVs)subject to multiple stationary/moving obstacles.The kinetic model parameters of each USV are totally unknown.A safety-critical model-free control method is proposed for tracking multiple targets with a collision-free containment formation.Specifically,a distributed containment extended state observer(DCESO)is designed to estimate the convex hull spanned by the multiple targets.At the kinematic level,a collision-free kinematic guidance law is presented using a control barrier function(CBF)and an extended state observer for each follower USV.At the kinetic level,a model-free position tracking control law by using an adaptive ESO(AESO)is presented for each follower USV.By the designed safety-critical model-free control method,cooperative tracking of multiple targets under multiple stationary/moving obstacles can be achieved using completely unknown kinetic model parameters.Simulations are provided to illustrate the efficacy of the proposed safety-critical model-free control method for a fleet of USVs.