Formation Control of Unmanned Surface Vehicles Using Fixed-time Sliding Mode Disturbance Observer

被引：0
作者：
Er, Meng Joo [1 ]
Li, Zhongkun [2 ]
Wang, Bohua [1 ]
机构：
[1] Dalian Maritime Univ, Coll Marine Elect Engn, Inst Artificial Intelligence & Marine Robot, Dalian, Peoples R China
[2] Dalian Maritime Univ, Coll Marine Engn, Inst Artificial Intelligence & Marine Robot, Dalian, Peoples R China
来源：
2021 6TH INTERNATIONAL CONFERENCE ON AUTOMATION, CONTROL AND ROBOTICS ENGINEERING, CACRE | 2021年
关键词：
unmanned surface vehicles; terminal sliding mode control; fixed-time; sliding mode disturbance observer;
D O I：
10.1109/CACRE52464.2021.9501384
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a leader-follower formation control strategy for unmanned surface vehicles (USVs) employing fixed-time sliding mode disturbance observer is proposed. The main contributions of this paper are: (1) A USV tracking control strategy based on terminal sliding mode (TSM-TC), which greatly increases convergence rate of the tracking control subsystem, is proposed; (2) A fixed-time sliding mode disturbance observer (FTSMDO) is designed to deal with unknown disturbances of the formation subsystem, and greatly enhance the capability of handling disturbances. The proposed formation control strategy based on FTSMDO (FTSMDO-FC) ensures stability of the formation system. Simulation results demonstrate that the proposed formation control strategy is superior to the state-of-the-art methods.
引用
收藏
页码：254 / 258
页数：5
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