Abstract
This study presents a solution to the problem of containment control of multiple fully actuated autonomous surface vehicles subject to environmental disturbances. Using finite-time stability theory...
Highlights
In the past few years, the field of the cooperative control for multiple autonomous surface vehicles (ASVs) is of increasing interest to the motion control community
The authors in the study of Fahimi7 design a nonlinear model predictive formation control (NMPFC) law based on an underactuated model to stabilize the relative distances and orientations between the follower and the leader; in the study of Kyrkjebø et al.,8 a leader–follower (L-F) synchronization output feedback controller has been proposed for the ship replenishment problem using an nonlinear observer; in the study of Dong,9 continuous time-varying cooperative control laws are designed to perform a geometric pattern using suitable transformations while assuming that the yaw velocity is nonzero; to cope with the uncertainties of College of Automation, Harbin Engineering University, Harbin, China
The actual control inputs (equation [21]) guaranty that all the followers in the group move into the convex hull formed by the leaders, and all the signals of multiple ASVs in the closed-loop system are semi-global uniformly bounded (SGUUB) by appropriately choosing the design parameter Ki1, Ki2, T0, D1, and D2
Summary
In the past few years, the field of the cooperative control for multiple autonomous surface vehicles (ASVs) is of increasing interest to the motion control community. Consider the fully actuated ASV model given by equations [2] and [3] under Assumptions 1–3; the objective of this work is to design a robust cooperative controller for each ship on the basis of its local states and the information from neighbors and a portion of the leaders and such that lim t!‘. The actual control inputs (equation [21]) guaranty that all the followers in the group move into the convex hull formed by the leaders, and all the signals of multiple ASVs in the closed-loop system are semi-global uniformly bounded (SGUUB) by appropriately choosing the design parameter Ki1, Ki2, T0, D1, and D2. By integration of the inequality (equation [55]), it leads to where
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