TY - JOUR
T1 - Predefined-time formation tracking control of networked marine surface vehicles
AU - Liang, Chang Duo
AU - Ge, Ming Feng
AU - Liu, Zhi Wei
AU - Ling, Guang
AU - Liu, Feng
N1 - Publisher Copyright:
© 2020 Elsevier Ltd
PY - 2021/2
Y1 - 2021/2
N2 - This paper investigates the predefined-time formation tracking control problem of networked marine surface vehicles (NMSVs) with external disturbances. A novel predefined-time sliding mode surface is proposed to guarantee that the states on it converge to the origin in a predefined time. Based on the presented sliding mode surface, two kinds of hierarchical control algorithms are developed to achieve the formation tracking of the virtual leader, whose acceleration in the earth-fixed coordinates can be zero or bounded. The sufficient conditions on the control parameters for guaranteeing the predefined-time stability of the closed-loop system are also derived. Finally, numerical simulations on Cyber-Ships II are performed to verify the effectiveness of the presented algorithms.
AB - This paper investigates the predefined-time formation tracking control problem of networked marine surface vehicles (NMSVs) with external disturbances. A novel predefined-time sliding mode surface is proposed to guarantee that the states on it converge to the origin in a predefined time. Based on the presented sliding mode surface, two kinds of hierarchical control algorithms are developed to achieve the formation tracking of the virtual leader, whose acceleration in the earth-fixed coordinates can be zero or bounded. The sufficient conditions on the control parameters for guaranteeing the predefined-time stability of the closed-loop system are also derived. Finally, numerical simulations on Cyber-Ships II are performed to verify the effectiveness of the presented algorithms.
KW - Networked marine surface vehicles (NMSVs)
KW - Predefined-time formation tracking
KW - Predefined-time hierarchical control algorithm
KW - Predefined-time sliding mode surface
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U2 - 10.1016/j.conengprac.2020.104682
DO - 10.1016/j.conengprac.2020.104682
M3 - Article
AN - SCOPUS:85096564795
SN - 0967-0661
VL - 107
JO - Control Engineering Practice
JF - Control Engineering Practice
M1 - 104682
ER -