Formation control of multiple marine vessels based on disturbance observer

被引：0

作者：

Guo, Hongxin ^{[1
]}

Wei, Xinjiang ^{[1
,2
]}

Zhang, Huifeng ^{[1
]}

Hu, Xin ^{[1
]}

机构：

[1] LuDong Univ, Sch Math & Stat Sci, 186 Hongqi Middle Rd, Yantai 264025, Peoples R China

[2] Taishan Univ, Tai An, Peoples R China

来源：

SHIPS AND OFFSHORE STRUCTURES | 2025年

基金：

中国国家自然科学基金;

关键词：

Disturbance observer; distributed formation; dynamic surface control; formation tracking control; FOLLOWER FORMATION CONTROL; DYNAMIC SURFACE CONTROL; TRACKING CONTROL; SHIPS; VEHICLES; SYNCHRONIZATION; REJECTION; SYSTEM;

D O I：

10.1080/17445302.2025.2457419

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

A distributed formation tracking control scheme is proposed for multiple marine vessels with the slowly-varying environment disturbances, and disturbance observers are designed to estimate the environment disturbances. Subsequently, combining disturbance observer-based control (DOBC), dynamic surface control (DSC) with virtual structure strategy, the distributed formation tracking control law is designed for ships of formation. Finally, the ultimately uniformly boundedness (UUB) of all states in the closed-loop system are guaranteed and simulation examples are presented to illustrate the validity of the proposed method.

引用

页数：10

共 36 条

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