Abstract
In this paper, the control of multiple ships for unknown scalar field source seeking problem with unknown external disturbances is considered. The sliding mode active disturbance rejection observers are designed first to converge to fixed multiple of the unknown external disturbances in finite time, respectively, and a least square method is adopted to estimate the gradient of the unknown scalar field at the position of the leading ship. Second, the surge, sway and angle velocity of the leading ship can converge to the virtual kinematic controllers through the input control of the dynamic controllers using force and torque in finite time. Third, the virtual controllers and dynamic controllers of the following ships are developed to urge the following ships to accomplish the source seeking problem from the perspective of dynamics. Finally, theoretical proofs and simulations are provided to prove the effectiveness of the strategy proposed.
Highlights
In the past few decades, large quantities of research works on source seeking have been done.1–4 In Li et al.,1 the authors have coped with the source seeking problem of an autonomous underwater vehicle (AUV) embedded with multiple sensors
The danger of the signal source is considered by some researchers3 and a sliding mode controller is proposed to drive the robot to reach an area with a specified distance away from the signal source and afterwards the robot will stay in the region continuously
This paper studies the problem of the source seeking of the leader–follower formation control of the fullactuated ships
Summary
In the past few decades, large quantities of research works on source seeking have been done.1–4 In Li et al.,1 the authors have coped with the source seeking problem of an autonomous underwater vehicle (AUV) embedded with multiple sensors. 2. The source seeking errors of the leader–follower system converge to zero asymptotically with time growing to positive infinity based on the proposed virtual controllers while the disturbance observers converge to fixed multiple of the unknown external disturbances in finite time by the sliding mode control.
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