Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control
Joint Authors
Yin, Shen
Fu, Mingyu
Jiao, Jianfang
Source
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-09-18
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
We investigate the problem of coordinated formation control for multiple surface vessels in the presence of unknown external disturbances.
In order to realize the leaderless coordinated formation and achieve the robustness against unknown external disturbances, a new robust coordinated formation control algorithm based on backstepping sliding mode control is proposed.
The proposed coordinated control algorithm is achieved by defining a new switched function using the combination of position tracking error and cross-coupling error.
Particularly, the cross-coupling error is defined using velocity tracking error and velocity synchronization error so as to be applicable for sliding mode controller design.
Furthermore, the adaptive control law is proposed to estimate unknown disturbances for each vessel.
The globally asymptotically stability is proved using the Lyapunov direct method.
Finally, the effectiveness of the proposed coordinated formation control algorithm is demonstrated by corresponding simulations.
American Psychological Association (APA)
Fu, Mingyu& Jiao, Jianfang& Yin, Shen. 2013. Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control. Abstract and Applied Analysis،Vol. 2013, no. 2013, pp.1-10.
https://search.emarefa.net/detail/BIM-490053
Modern Language Association (MLA)
Fu, Mingyu…[et al.]. Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control. Abstract and Applied Analysis No. 2013 (2013), pp.1-10.
https://search.emarefa.net/detail/BIM-490053
American Medical Association (AMA)
Fu, Mingyu& Jiao, Jianfang& Yin, Shen. Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control. Abstract and Applied Analysis. 2013. Vol. 2013, no. 2013, pp.1-10.
https://search.emarefa.net/detail/BIM-490053
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-490053