文章基本信息

标题：Formation Control of Multiple Underactuated Surface Vessels with a Disturbance Observer
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作者：Sun, Zhiyuan ; Sun, Hanbing ; Li, Ping 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2022
卷号：10
期号：8
页码：1-12
DOI：10.3390/jmse10081016
语种：English
出版社：MDPI AG
摘要：To maintain the formation of underactuated surface vessels (USVs), this study designs a formation controller based on a virtual structure strategy. The problem of formation control is transformed into the problems of tracking the USV position and the virtual structure point position. Meanwhile, to eliminate the effects of model parameter uncertainties and external environment disturbances on USV tracking control, a compensation control algorithm based on disturbance estimation is proposed. The Lyapunov theorem is introduced to ensure that the trajectory tracking error of the proposed control algorithm eventually converges to any small region, which confirms global stability of the designed tracking error. The simulation results demonstrate that the proposed controller can eliminate the effect of external uncertain interference and maintain the formation of multiple USVs.
关键词：underactuated surface vessel; formation control; external environment disturbance; model parameter uncertainty