期刊
IEEE TRANSACTIONS ON CYBERNETICS
卷 48, 期 11, 页码 3243-3253出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2018.2794968
关键词
Finite-time stability; formation control; nonlinear sliding mode control; under-actuated ships
类别
资金
- National Natural Science Foundation of China [51179019, 61374114, 61751202]
- National Fundamental Research 973 Program of China [2011CB302801]
- Fundamental Research Program for Key Laboratory of the Education Department of Liaoning Province [LZ2015006]
- Natural Science Foundation of Liaoning [20170580081]
- Fundamental Research Funds for the Central Universities [3132016313, 3132016311]
- Post-Doctoral Innovation Talent Support Plan [BX201700041]
A novel nonlinear sliding mode control approach dealing with the formation control of under-actuated ships is presented in this paper. To avoid the singularity problem, state space of the system is partitioned into two regions, with one region bounded for terminal sliding mode control and its complement singular for that. And a linear auxiliary sliding mode controller is designed for system trajectories starting from the complement region. With the application of nonlinear sliding mode control approach and finite-time stability theory, a distributed controller is designed for individual under-actuated ship to achieve the given formation pattern within a finite time. Finally, two simulation examples are provided to verify the effectiveness and performance of the proposed approach.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据