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The containment maneuvering of marine surface vehicles has two objectives. The first one is to force the marine vehicles to follow a convex hull spanned by multiple parameterized paths. The second one is to meet the requirement of a desired dynamic behavior along multiple paths during containment. A modular design approach to the containment maneuvering of marine surface vehicles is presented. At first, an estimator module using a recurrent neural network is proposed to estimate the unknown kinetics induced by model uncertainty, unmodeled dynamics, and environmental disturbances. Next, a controller module is developed based on a distributed path maneuvering design and a linear tracking differentiator. Finally, two path update laws based on a maneuvering error feedback and a filtering update scheme, respectively, are constructed. The estimator-controller pair forms a cascade system, which is proved to be input-to-state stable. The developed controller has a desirable spatial-temporal decoupling property, and geometric and dynamic objectives can be achieved separately. Results of comparative studies are provided to substantiate the efficacy of the proposed method.
Peng et al. (Wed,) studied this question.