Robust coordinated formation for multiple surface vessels based on backstepping sliding mode control. (English) Zbl 1421.93038

Summary: 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.


93B35 Sensitivity (robustness)
93B12 Variable structure systems
93D20 Asymptotic stability in control theory
93C95 Application models in control theory
Full Text: DOI


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