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Authors:
Wen-Jer Chang
Yann-Horng Lin
Keywords: nonlinear multi-agent system; interval type-2 fuzzy control; formation; tracking control; collision avoidance.
Abstract:
This paper addresses the challenges of formation and collision avoidance for Nonlinear Multi-Ship Systems (NM-ASs) using an Interval Type-2 (IT-2) fuzzy tracking controller. Since the significant value in military applications, the control of Multi-Agent Systems (M-ASs) has garnered considerable attention. To allocate tasks more properly within M-ASs, the leader-follower control scheme has been developed. However, the nonlinearities and uncertainties in ship dynamics continue to hinder task execution effectiveness. Compared to type-1 Takagi-Sugeno Fuzzy Models (T-SFMs), IT-2 fuzzy control offers superior uncertainty handling and provides more precise control for NM-ASs. Previous research has introduced an IT-2 Formation-and-Containment (F-and-C) fuzzy control approach for multiple ships and combined some performance constraints to enhance the control efficiency of the leaders. Nonetheless, the safety of the leader ships, who are the most critical components of whole system, remains a concern until they can avoid obstacles and other ships. In this research, the Artificial Potential Fields (APFs) based-collision avoidance control is integrated with the IT-2 fuzzy control theory. Based on the IT-2 T-SFM, a fuzzy tracking control approach is developed to simultaneously achieve both collision avoidance and formation tasks. Finally, simulation results for four leader ships are presented to verify the efficiency and applicability of the proposed IT-2 fuzzy tracking controller.
Pages: 39 to 44
Copyright: Copyright (c) IARIA, 2025
Publication date: March 9, 2025
Published in: conference
ISSN: 2308-4065
ISBN: 978-1-68558-236-4
Location: Lisbon, Portugal
Dates: from March 9, 2025 to March 13, 2025