Robust leader-follower formation tracking control of multiple underactuated surface vessels |
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Authors: | Zhou-hua Peng Dan Wang Wei-yao Lan Gang Sun |
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Institution: | a a Marine Engineering College,Dalian Maritime University,Dalian 116026,China b Department of Automation,Xiamen University,Xiamen 361005,China |
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Abstract: | This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation.The formation is achieved by the follower to track a virtual target defined relative to the leader.A robust adaptive target tracking law is proposed by using neural network and backstepping techniques.The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces,nonlinear damping,unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning.Based on Lyapunov analysis,the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin.Simulation results demonstrate the effectiveness of the control strategy. |
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Keywords: | marine surface vessel formation control neural network backstepping leader-follower |
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