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Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control

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  • Mingyu Fu
  • Jianfang Jiao
  • Shen Yin

Abstract

We investigate the problem of coordinated formation control for multiple surface vessels in the presence of unknown external disturbances. In order to realize the leaderless coordinated formation and achieve the robustness against unknown external disturbances, a new robust coordinated formation control algorithm based on backstepping sliding mode control is proposed. The proposed coordinated control algorithm is achieved by defining a new switched function using the combination of position tracking error and cross‐coupling error. Particularly, the cross‐coupling error is defined using velocity tracking error and velocity synchronization error so as to be applicable for sliding mode controller design. Furthermore, the adaptive control law is proposed to estimate unknown disturbances for each vessel. The globally asymptotically stability is proved using the Lyapunov direct method. Finally, the effectiveness of the proposed coordinated formation control algorithm is demonstrated by corresponding simulations.

Suggested Citation

  • Mingyu Fu & Jianfang Jiao & Shen Yin, 2013. "Robust Coordinated Formation for Multiple Surface Vessels Based on Backstepping Sliding Mode Control," Abstract and Applied Analysis, John Wiley & Sons, vol. 2013(1).
    • Handle: RePEc:wly:jnlaaa:v:2013:y:2013:i:1:n:681319
    DOI: 10.1155/2013/681319
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    References listed on IDEAS

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    1. Jiacai Huang & Hongsheng Li & YangQuan Chen & Qinghong Xu, 2012. "Robust Position Control of PMSM Using Fractional‐Order Sliding Mode Controller," Abstract and Applied Analysis, John Wiley & Sons, vol. 2012(1).
    2. Jiacai Huang & Hongsheng Li & YangQuan Chen & Qinghong Xu, 2012. "Robust Position Control of PMSM Using Fractional-Order Sliding Mode Controller," Abstract and Applied Analysis, Hindawi, vol. 2012, pages 1-33, November.
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    Cited by:

    1. Jianfang Jiao & Mingyu Fu, 2014. "Finite‐Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels," Abstract and Applied Analysis, John Wiley & Sons, vol. 2014(1).

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