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2013 Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control
Mingyu Fu, Jianfang Jiao, Shen Yin
Abstr. Appl. Anal. 2013(SI56): 1-10 (2013). DOI: 10.1155/2013/681319

Abstract

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.

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Mingyu Fu. Jianfang Jiao. Shen Yin. "Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control." Abstr. Appl. Anal. 2013 (SI56) 1 - 10, 2013. https://doi.org/10.1155/2013/681319

Information

Published: 2013
First available in Project Euclid: 26 February 2014

zbMATH: 07095230
MathSciNet: MR3102727
Digital Object Identifier: 10.1155/2013/681319

Rights: Copyright © 2013 Hindawi

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Vol.2013 • No. SI56 • 2013
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