Disturbance observer-based backstepping control for leader-follower ships with disturbances

被引：10

作者：

Mu, Chengmei ^{[1
]}

Wei, Xinjiang ^{[1
]}

Zhang, Huifeng ^{[1
]}

Hu, Xin ^{[1
]}

Han, Jian ^{[1
]}

机构：

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

来源：

SHIPS AND OFFSHORE STRUCTURES | 2024年 / 19卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Disturbance observer; backstepping; leader-follower ships; cooperative; tracking control;

D O I：

10.1080/17445302.2023.2186289

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：

This paper studies leader-follower cooperative control with the slowly-varying environment disturbances of the surface ships, which are mainly caused by wind, wave and current. A disturbance observer is constructed to estimate the slowly-varying environmental disturbances. Based on disturbance observer, the control law of the follower ship is designed by backstepping technique. The disturbance observer-based leader-follower cooperative control scheme is carried out via employing stochastic control theory to analyse the close-loop system. The scheme achieves the follower ship track the leader ship with a certain error range for cooperative movement and all signals are bounded in the mean square. Finally, the results of simulation are listed to verify the scheme.

引用

页码：532 / 540

页数：9

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