Formation Control of Unmanned Surface Vehicles Using Fixed-time Sliding Mode Disturbance Observer
Meng Joo Er, Zhongkun Li, Bohua Wang · 2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE) · 2021
In this paper, a leader-follower formation control strategy for unmanned surface vehicles (USVs) employing fixed-time sliding mode disturbance observer is proposed. The main contributions of this paper are: (1) A USV tracking control strategy based on terminal sliding mode (TSM-TC), which greatly increases convergence rate of the tracking control subsystem, is proposed; (2) A fixed-time sliding mode disturbance observer (FTSMDO) is designed to deal with unknown disturbances of the formation subsystem, and greatly enhance the capability of handling disturbances. The proposed formation control strategy based on FTSMDO (FTSMDO-FC) ensures stability of the formation system. Simulation results demonstrate that the proposed formation control strategy is superior to the state-of-the-art methods.