Formation Tracking Control for Multiple Unmanned Surface Vessels System with A Noncooperative Target
Ke Yi, Shun Zhang, Si-Hong She, Bohan Shao · 2021 IEEE International Conference on Unmanned Systems (ICUS) · 2021
In this paper, we investigate the formation tracking guidance control issues of multiple unmanned surface vessels system with a noncooperative target. The visual leader guided formation tracking strategy is introduced. Firstly, the nonlinear dynamic models of the vessel and the target are transformed into linear dynamic models. Then, for the visual leader vessel, a robust tracking guidance law is proposed for achieving tracking guidance for the noncooperative target with desired distance trajectory. The visual leader vessel provides the reference trajectory for the follower vessels. Thirdly, for the multiple real follower vessels, the distributed formation tracking guidance controllers are presented. The stability for the closed loop leader and follower vessels is also analyzed and proved. Then, to show the well control performance. simulation results are given.