Containment Control of Underactuated Ships with Environment Disturbances and Parameter Uncertainties
Joint Authors
Ma, Junda
Liu, Ke
Liu, Zhilin
Zhu, Qidan
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-19, 19 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-04-02
Country of Publication
Egypt
No. of Pages
19
Main Subjects
Abstract EN
An implementable robust containment control algorithm is proposed for a group of underactuated ships in the presence of hydrodynamic parameter uncertainties and external disturbances.
The control objective is to drive all the followers into the convex hull spanned by the virtual leaders, whose state information is available only to a subset of the followers.
For this purpose, the ship model is primarily transformed to a strict-feedback form.
In the kinematic design, a virtual containment controller, requiring the state information from its neighbors, is presented based on the results obtained from graph theory.
In the dynamic design, a robust containment controller is developed through utilizing upper-to-up sliding mode control.
In addition, in order to simplify the implementations of the control law, the command filtered backstepping (CFBP) method is introduced to prevent the analytic differentiations of the virtual law from each design step of the backstepping (BP) method.
Subsequently, it is well proven that all the tracking errors could converge to and remain small neighborhoods of the equilibrium point.
Finally, several simulation experiments are conducted to demonstrate the performance of the proposed control algorithm.
American Psychological Association (APA)
Zhu, Qidan& Ma, Junda& Liu, Zhilin& Liu, Ke. 2017. Containment Control of Underactuated Ships with Environment Disturbances and Parameter Uncertainties. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-19.
https://search.emarefa.net/detail/BIM-1190620
Modern Language Association (MLA)
Zhu, Qidan…[et al.]. Containment Control of Underactuated Ships with Environment Disturbances and Parameter Uncertainties. Mathematical Problems in Engineering No. 2017 (2017), pp.1-19.
https://search.emarefa.net/detail/BIM-1190620
American Medical Association (AMA)
Zhu, Qidan& Ma, Junda& Liu, Zhilin& Liu, Ke. Containment Control of Underactuated Ships with Environment Disturbances and Parameter Uncertainties. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-19.
https://search.emarefa.net/detail/BIM-1190620
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190620