Leader-follower cooperative control of multiple marine surface vehicles with unknown disturbances
Guangjun Chen, Haitao Liu · 2019
This article investigates the leader-follower cooperative control of multiple marine surface vehicles with unknown disturbances induced ocean environment. A nonlinear observer is developed to estimate unknown time-varying disturbances, and a rapid convergent cooperative controller is designed based on graph theory, backstepping technology and disturbance observer. The results show that the proposed cooperative controllers can achievement formation behavior control among vehicle for inaccurate dynamics model and any undirected connected communication topology of each vehicle. By using Lyapunov stability analysis, all signals of closed-loop systems are guaranteed to be uniformly ultimately bounded, and the tracking errors eventually tend to zero. Numerical simulation studies are demonstrated the effectiveness of the proposed methods.