Adaptive Second-Order Fast Terminal Sliding-Mode Formation Control for Unmanned Surface Vehicles
نویسندگان
چکیده
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 introduced to describe the connective relationships establish generalized errors among USVs. Then, second-order nonsingular terminal sliding-mode (SOFNTSMC) designed guarantee that system converges quickly without chatter. An adaptive update law order estimate uncertainties external disturbances requirement boundary information uncertainties. With application SOFNTSMC (ASOFNTSMC) theory, distributed developed for every USV perform desired pattern. Finally, results simulations comparisons demonstrate effectiveness proposed method.
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Adaptive nonsingular fast terminal sliding mode control for electromechanical actuator
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ژورنال
عنوان ژورنال: Journal of Marine Science and Engineering
سال: 2022
ISSN: ['2077-1312']
DOI: https://doi.org/10.3390/jmse10111782