Abstract
The issue of distributed cooperative path tracking control for multi-vessel in the presence of ocean currents has addressed in this article. The proposed cooperative control approach is achieved by designing the guidance system and the control system. In order to achieve the multi-vessel’s coordination with the desired spatial formation, the guidance system is designed based on the strategy of virtual leader for supplying the desire path and relevant parameters for each vessel. In addition, a robust cooperative path tracking controller is designed to reject the disturbance of unknown ocean currents using the backstepping method and the adaptive control technology. The synchronization between all the vessels is achieved by defining same path parameter and same speed along the path through the guidance system. Global asymptotic stability is guaranteed by Lyapunov-based technique for the whole control system. The effectiveness of the proposed cooperative path tracking control method is demonstrated by numerical simulation.
Highlights
Coordination control has been receiving increasing attention as an area of research due to the broad applications in many fields,[1] for example, formation control of robots on ground,[2] formation control of aircrafts in the air,[3] cooperative control of satellites in space,[4] and cooperative control of marine vessels on the ocean surface.[5]
The problem of cooperative path tracking control is discussed based on the nonlinear cascade system theory for multiple underactuated marine vessels.[7]
In the proposed robust cooperative path tracking control algorithm, the desired path and the path parameters for each vessel are supplied by designing the guidance system according to the virtual leader
Summary
Coordination control has been receiving increasing attention as an area of research due to the broad applications in many fields,[1] for example, formation control of robots on ground,[2] formation control of aircrafts in the air,[3] cooperative control of satellites in space,[4] and cooperative control of marine vessels on the ocean surface.[5]. The distributed robust cooperative controller is designed for multi-vessel in the presence of ocean currents to accomplish the task of path tracking. The proposed coordination control algorithm is achieved by designing a guidance system for each vessel to supply the desired path and the desired speed along the path for each vessel and by designing the robust path tracking controller using the backstepping and adaptive control technology to guarantee online estimation and compensation of ocean current disturbance.
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