Adaptive neural sliding mode control for heterogeneous ship formation keeping considering uncertain dynamics and disturbances
Xu You (Wuhan University of Technology)
Xinping Yan (Wuhan University of Technology)
Jialun Liu (Wuhan University of Technology)
Shijie Li (Wuhan University of Technology)
R Negenborn (TU Delft - Transport Engineering and Logistics)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
Abstract
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.