An Improved Dynamic Surface Sliding Mode Method for Autonomous Cooperative Formation Control of Underactuated USVS with Complex Marine Environment Disturbances

An Improved Dynamic Surface Sliding Mode Method for Autonomous Cooperative Formation Control of Underactuated USVS with Complex Marine Environment Disturbances

In this paper, a novel dynamic surface sliding mode control (DSSMC) method, combined with a lateral velocity tracking differentiator (LVTD), is proposed for the cooperative formation control of underactuated unmanned surface vehicles (USVs) exposed to complex marine environment disturbances. Firstly...

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Bibliographic Details
Main Authors: Dong Zaopeng, Qi Shijie, Yu Min, Zhang Zhengqi, Zhang Haisheng, Li Jiakang, Liu Yang
Format: Article
Language:English
Published: Sciendo 2022-09-01
Series:Polish Maritime Research
Subjects:
underactuated usv
dynamic surface sliding mode control
lateral velocity tracking differentiator
nonlinear disturbance observer
Online Access:https://doi.org/10.2478/pomr-2022-0025

Internet

https://doi.org/10.2478/pomr-2022-0025

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