Journal
OCEAN ENGINEERING
Volume 263, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2022.112268
Keywords
Heterogeneous formation; Formation control; Adaptive control; Neural networks; Heterogeneous dynamics
Funding
- National Natural Science Foundation of China [62003250]
- Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai) [SML2021SP101]
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This paper investigates the formation keeping problem of heterogeneous ships with underactuated inputs, uncertain dynamics, and environmental disturbances and proposes a novel virtual leader-follower formation scheme to address this problem.
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.
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