Robust Coordinated Control Algorithm for Multiple Marine Vessels with External Disturbances

Abstract EN

The problem of coordinated control for multiple marine vessels in the presence of external disturbances is considered in this paper.

A robust coordinated control algorithm is proposed for multiple marine vessels.

The proposed robust coordinated control algorithmis divided into two parts.

The first part develops an extended state observer to estimate the disturbances of marine vessels.

Thesecond part presents a robust coordinated control algorithm based on the output of the extended state observer.

Furthermore, therobust coordinated control algorithm is designed using the dynamic surface control method.

In light of the leader-follower strategy,the trajectory for each vessel is defined according to the desired trajectory of the assigned leader and the relative distance withrespect to the leader.

The effectiveness of the proposed coordination algorithm is demonstrated by the simulation results.