The Bioinspired Model-Based Hybrid Sliding-Mode Formation Control for Underactuated Unmanned Surface Vehicles
Joint Authors
Source
Journal of Control Science and Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-12-02
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
In this paper, a novel hybrid strategy is proposed for unmanned surface vehicle (USV) formation control.
The strategy is divided into two subsystems: a virtual velocity controller based on the bioinspired model and a dynamic controller based on the sliding-mode model.
The proposed control scheme solves the problem of a speed jump that occurs in the traditional backstepping method when the margin of error increases suddenly, and it also satisfies the actuator control constraint.
Additionally, a dynamic controller is designed, combining the sliding mode with the proposed virtual controller, to avoid the traditional chattering problem.
System stability is proven by the Lyapunov theory.
Simulation results verify the effectiveness of the proposed controller.
American Psychological Association (APA)
Fu, Mingyu& Wang, Duansong. 2018. The Bioinspired Model-Based Hybrid Sliding-Mode Formation Control for Underactuated Unmanned Surface Vehicles. Journal of Control Science and Engineering،Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1183076
Modern Language Association (MLA)
Fu, Mingyu& Wang, Duansong. The Bioinspired Model-Based Hybrid Sliding-Mode Formation Control for Underactuated Unmanned Surface Vehicles. Journal of Control Science and Engineering No. 2018 (2018), pp.1-9.
https://search.emarefa.net/detail/BIM-1183076
American Medical Association (AMA)
Fu, Mingyu& Wang, Duansong. The Bioinspired Model-Based Hybrid Sliding-Mode Formation Control for Underactuated Unmanned Surface Vehicles. Journal of Control Science and Engineering. 2018. Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1183076
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1183076