Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control
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 con...
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| Format: | Article |
| Language: | English |
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Wiley
2013-01-01
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| Series: | Abstract and Applied Analysis |
| Online Access: | http://dx.doi.org/10.1155/2013/681319 |
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| _version_ | 1849415516374958080 |
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| author | Mingyu Fu Jianfang Jiao Shen Yin |
| author_facet | Mingyu Fu Jianfang Jiao Shen Yin |
| author_sort | Mingyu Fu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-6988b1a3ac054e8aa56cdd37436f2b41 |
| institution | Kabale University |
| issn | 1085-3375 1687-0409 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Abstract and Applied Analysis |
| spelling | doaj-art-6988b1a3ac054e8aa56cdd37436f2b412025-08-20T03:33:31ZengWileyAbstract and Applied Analysis1085-33751687-04092013-01-01201310.1155/2013/681319681319Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode ControlMingyu Fu0Jianfang Jiao1Shen Yin2College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, ChinaUniversity of Duisburg-Essen, 47057 Duisburg, GermanyWe 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.http://dx.doi.org/10.1155/2013/681319 |
| spellingShingle | Mingyu Fu Jianfang Jiao Shen Yin Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control Abstract and Applied Analysis |
| title | Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control |
| title_full | Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control |
| title_fullStr | Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control |
| title_full_unstemmed | Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control |
| title_short | Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control |
| title_sort | robust coordinated formation for multiple surface vessels based on backstepping sliding mode control |
| url | http://dx.doi.org/10.1155/2013/681319 |
| work_keys_str_mv | AT mingyufu robustcoordinatedformationformultiplesurfacevesselsbasedonbacksteppingslidingmodecontrol AT jianfangjiao robustcoordinatedformationformultiplesurfacevesselsbasedonbacksteppingslidingmodecontrol AT shenyin robustcoordinatedformationformultiplesurfacevesselsbasedonbacksteppingslidingmodecontrol |