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

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

You, Xu (Wuhan University of Technology)
Yan, Xinping (Wuhan University of Technology)
Liu, Jialun (Wuhan University of Technology)
Li, Shijie (Wuhan University of Technology)
Negenborn, R.R. (TU Delft Transport Engineering and Logistics)

2022

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.

Adaptive control
Formation control
Heterogeneous dynamics
Heterogeneous formation
Neural networks

http://resolver.tudelft.nl/uuid:e002271a-9def-4a08-b0e2-b870bd6f5ae8

https://doi.org/10.1016/j.oceaneng.2022.112268

2023-07-01

0029-8018

Ocean Engineering, 263

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

journal article

© 2022 Xu You, Xinping Yan, Jialun Liu, Shijie Li, R.R. Negenborn