Adaptive neural sliding mode control for heterogeneous ship formation keeping considering uncertain dynamics and disturbances

被引：13

作者：

You, Xu ^{[1
,2
,3
]}

Yan, Xinping ^{[2
,3
]}

Liu, Jialun ^{[2
,3
]}

Li, Shijie ^{[1
]}

Negenborn, Rudy R. ^{[4
]}

机构：

[1] Wuhan Univ Technol, Sch Transportat & Logist Engn, Wuhan, Peoples R China

[2] Wuhan Univ Technol, Intelligent Transportat Syst Res Ctr, Wuhan, Peoples R China

[3] Wuhan Univ Technol, Natl Engn Res Ctr Water Transport Safety, Wuhan, Peoples R China

[4] Delft Univ Technol, Dept Maritime & Transport Technol, Delft, Netherlands

来源：

OCEAN ENGINEERING | 2022年 / 263卷

基金：

中国国家自然科学基金;

关键词：

Heterogeneous formation; Formation control; Adaptive control; Neural networks; Heterogeneous dynamics; DESIGN; VEHICLES;

D O I：

10.1016/j.oceaneng.2022.112268

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 investigates the formation keeping problem of heterogeneous ships with underactuated inputs, uncertain dynamics, and environmental disturbances. The control objective is to make the heterogeneous followers keep the desired formation while tracking a leader. To solve the problem effectively, a novel virtual leader-follower formation scheme considering the ship heterogeneity is proposed by utilizing the backstepping method, adaptive neural network, and adaptive control law. The stability of the formation control system is proved based on Lyapunov's direct method where all tracking errors are guaranteed to be uniformly ultimately bounded. Finally, simulations and comparisons are conducted to verify the effectiveness of the proposed control law.

引用

页数：12

共 41 条

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