Adaptive Leader–Follower Formation Control of Underactuated Surface Vessels Under Asymmetric Range and Bearing Constraints
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Bibliographic record
Abstract
This paper deals with the problem of leader-follower formation control for a group of underactuated surface vessels with partially known control input functions. In the proposed scheme, the problem is formulated as an adaptive feedback control problem for aLine-Of-Sight (LOS) based formation configuration of a leader and a follower. To account for LOS and bearing angle time-varying constraints, asymmetric barrier Lyapunov functions are incorporated with the control design. Furthermore, in order to alleviate required velocity information on the leader, a reconstruction module is designed to estimate the vector velocity of this leader. This reconstruction is accomplished in finite time with zero error, which allows the injection of accurate estimation into the formation controller. The controller is then developed within the framework of the backstepping technique, with the parametric uncertainties and the unknown gains being estimated by a novel structure identifier. The overall closed-loop system, is proved to be semiglobally uniformly ultimately bounded by Lyapunov stability theory. Furthermore, we show under the proposed control scheme that the constraints requirement on the LOS range and bearing angle tracking errors are not violated during the formation process. Finally, the effectiveness and the robustness of the proposed strategy are exhibited through simulations.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it