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| Title: | Adaptive neural sliding mode control for heterogeneous ship formation considering uncertain dynamics and disturbances | | | Authors: | X. You, X. Yan, J. Liu, S. Li, R.R. Negenborn | | | | |
| | Abstract: | The formation problem of multiple underactuated surface vessels in the presence of uncertain dynamics and environmental disturbances is concerned in this paper. To solve the problem effectively, a novel virtual leader-follower formation scheme 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. Various simulations and comparison results are conducted to verify the of the theoretical results. Furthermore, besides the simulations on isomorphic ship formation, the verification on multiple heterogeneous ships, who are regarded to have different characteristics and control performance, is discussed to extend the scope of application on ship formation control. |
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