Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels
We investigate the problem of finite-time cooperative tracking for multiple surface vessels in the presence of external disturbances. A robust finite-time cooperative tracking algorithm based on terminal sliding-mode control is proposed for multiple surface vessels. In light of the leader-follower s...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Abstract and Applied Analysis |
| Online Access: | http://dx.doi.org/10.1155/2014/807102 |
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| _version_ | 1832565028099719168 |
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| author | Jianfang Jiao Mingyu Fu |
| author_facet | Jianfang Jiao Mingyu Fu |
| author_sort | Jianfang Jiao |
| collection | DOAJ |
| description | We investigate the problem of finite-time cooperative tracking for multiple surface vessels in the presence of external
disturbances. A robust finite-time cooperative tracking algorithm based on terminal sliding-mode control is proposed for multiple surface vessels. In light of the leader-follower strategy, a virtual leader vessel is defined to provide reference point for other surface vessels to form the desired formation. Specifically, the proposed algorithm only requires the communication topology among the surface vessels to be a directed graph with a directed spanning tree. The robustness is achieved by compensating the upper bound
of external disturbance in the control input, and the global finite-time stability is proved by Lyapunov stability theory. Finally, the effectiveness of the proposed finite-time cooperative tracking control algorithm is demonstrated by simulation results. |
| format | Article |
| id | doaj-art-657a9eb864f948458907c66cc6d4fbd1 |
| institution | Kabale University |
| issn | 1085-3375 1687-0409 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Abstract and Applied Analysis |
| spelling | doaj-art-657a9eb864f948458907c66cc6d4fbd12025-02-03T01:09:35ZengWileyAbstract and Applied Analysis1085-33751687-04092014-01-01201410.1155/2014/807102807102Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface VesselsJianfang Jiao0Mingyu Fu1College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, ChinaWe investigate the problem of finite-time cooperative tracking for multiple surface vessels in the presence of external disturbances. A robust finite-time cooperative tracking algorithm based on terminal sliding-mode control is proposed for multiple surface vessels. In light of the leader-follower strategy, a virtual leader vessel is defined to provide reference point for other surface vessels to form the desired formation. Specifically, the proposed algorithm only requires the communication topology among the surface vessels to be a directed graph with a directed spanning tree. The robustness is achieved by compensating the upper bound of external disturbance in the control input, and the global finite-time stability is proved by Lyapunov stability theory. Finally, the effectiveness of the proposed finite-time cooperative tracking control algorithm is demonstrated by simulation results.http://dx.doi.org/10.1155/2014/807102 |
| spellingShingle | Jianfang Jiao Mingyu Fu Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels Abstract and Applied Analysis |
| title | Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels |
| title_full | Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels |
| title_fullStr | Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels |
| title_full_unstemmed | Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels |
| title_short | Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels |
| title_sort | finite time cooperative tracking control algorithm for multiple surface vessels |
| url | http://dx.doi.org/10.1155/2014/807102 |
| work_keys_str_mv | AT jianfangjiao finitetimecooperativetrackingcontrolalgorithmformultiplesurfacevessels AT mingyufu finitetimecooperativetrackingcontrolalgorithmformultiplesurfacevessels |