Disturbance Observer-Based Formation Control for Multiple Unmanned Surface Vessels
Han Sun, Xiaogong Lin, Qiusu Wang, Chonglang Lai · 2024
This paper investigates the problems of formation keeping and translational control for unmanned surface vessels (USVs) in the presence of model uncertainties and external disturbances. Firstly, an adaptive sliding mode disturbance observer is introduced to estimate environmental disturbances. Based on the proposed observer, the system can effectively estimate unknown disturbances within a finite time without requiring the knowledge of the upper bounds of the disturbance and its derivative. Then, based on the state information of the neighboring vessels, the communication relationship between multiple vessels and the estimated value of the disturbance, a formation controller is designed using the auxiliary dynamic system and the dynamic surface method and to realize the USVs formation control under the disturbance of the external environment. Finally, numerical simulations are conducted to confirm the effectiveness of the controller and observer proposed for multiple unmanned surface vessels.