Adaptive neural sliding mode control for heterogeneous ship formation keeping considering uncertain dynamics and disturbances

Xu You, Xinping Yan, Jialun Liu*, Shijie Li, Rudy R. Negenborn

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

Abstract

This paper investigates the formation keeping problem of heterogeneous ships with underactuated inputs, uncertain dynamics, and environmental disturbances. The control objective is to make the heterogeneous followers keep the desired formation while tracking a leader. To solve the problem effectively, a novel virtual leader–follower formation scheme considering the ship heterogeneity is proposed by utilizing the backstepping method, adaptive neural network, and adaptive control law. The stability of the formation control system is proved based on Lyapunov's direct method where all tracking errors are guaranteed to be uniformly ultimately bounded. Finally, simulations and comparisons are conducted to verify the effectiveness of the proposed control law.

Original languageEnglish
Article number112268
Number of pages12
JournalOcean Engineering
Volume263
DOIs
Publication statusPublished - 2022

Bibliographical note

Accepted Author Manuscript

Keywords

  • Adaptive control
  • Formation control
  • Heterogeneous dynamics
  • Heterogeneous formation
  • Neural networks

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