Nonlinear Extended State Observer-Based Distributed Formation Control of Multiple Vessels with Finite-Time Prescribed Performance

Nonlinear Extended State Observer-Based Distributed Formation Control of Multiple Vessels with Finite-Time Prescribed Performance

In the presence of unmeasurable velocities and system uncertainties, the distributed formation control problem is investigated in this paper for multiple vessels. A robust formation controller is proposed by incorporating an extended state observer (ESO) and finite-time prescribed performance functi...

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Bibliographic Details
Main Authors:	Shasha Wang, Dongchen Dai, Dan Wang, Yulong Tuo
Format:	Article
Language:	English
Published:	MDPI AG 2023-02-01
Series:	Journal of Marine Science and Engineering
Subjects:	distributed formation control multiple vessels prescribed performance function finite-time stability theory extended state observer
Online Access:	https://www.mdpi.com/2077-1312/11/2/321

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