Method of Cooperative Formation Control for Underactuated USVS Based on Nonlinear Backstepping and Cascade System Theory
This paper presents a method for the cooperative formation control of a group of underactuated USVs. The problem of formation control is first converted to one of stabilisation control of the tracking errors of the follower USVs using system state transformation design. The followers must keep a fix...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2021-03-01
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| Series: | Polish Maritime Research |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/pomr-2021-0014 |