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Abstract and Applied AnalysisVolume 2013 2013, Article ID 681319, 10 pages

Research Article

College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, China

University of Duisburg-Essen, 47057 Duisburg, Germany

Received 13 June 2013; Accepted 25 July 2013

Academic Editor: Lixian Zhang

Copyright © 2013 Mingyu Fu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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.

Autor: Mingyu Fu, Jianfang Jiao, and Shen Yin



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