Adaptive Second-Order Fast Terminal Sliding-Mode Formation Control for Unmanned Surface Vehicles

Adaptive Second-Order Fast Terminal Sliding-Mode Formation Control for Unmanned Surface Vehicles

The formation control of unmanned surface vehicles (USVs) while considering communication topology, dynamic model uncertainties, environmental disturbances, and a fast convergence rate is addressed in this paper. First, graph theory is introduced to describe the connective relationships and establis...

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Bibliographic Details
Main Authors: Duansong Wang, Min Kong, Gang Zhang, Xiaoling Liang
Format: Article
Language:English
Published: MDPI AG 2022-11-01
Series:Journal of Marine Science and Engineering
Subjects:
unmanned surface vehicles
formation control
graph theory
adaptive second-order fast sliding mode
Online Access:https://www.mdpi.com/2077-1312/10/11/1782

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