Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels
Joint Authors
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-03-04
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
We investigate the problem of finite-time cooperative tracking for multiple surface vessels in the presence of external disturbances.
A robust finite-time cooperative tracking algorithm based on terminal sliding-mode control is proposed for multiple surface vessels.
In light of the leader-follower strategy, a virtual leader vessel is defined to provide reference point for other surface vessels to form the desired formation.
Specifically, the proposed algorithm only requires the communication topology among the surface vessels to be a directed graph with a directed spanning tree.
The robustness is achieved by compensating the upper bound of external disturbance in the control input, and the global finite-time stability is proved by Lyapunov stability theory.
Finally, the effectiveness of the proposed finite-time cooperative tracking control algorithm is demonstrated by simulation results.
American Psychological Association (APA)
Jiao, Jianfang& Fu, Mingyu. 2014. Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels. Abstract and Applied Analysis،Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-1014826
Modern Language Association (MLA)
Jiao, Jianfang& Fu, Mingyu. Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels. Abstract and Applied Analysis No. 2014 (2014), pp.1-10.
https://search.emarefa.net/detail/BIM-1014826
American Medical Association (AMA)
Jiao, Jianfang& Fu, Mingyu. Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels. Abstract and Applied Analysis. 2014. Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-1014826
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1014826