Combination of leader-follower method and potential function about ship formation control
LI Yun
XIAO Ying-jie
Abstract：As multi-vessel operation prevails increasingly at sea, the most common mode is ship formation control. Considering the over-centralized control of leader-follower method, the multi-vessel formation is divided into the leader-follower control stage and follower-follower control stage in this paper. At the first stage, the control law utilizing sliding mode control and ship response model is applied. The potential function method which combines with the graph topology is introduced to constrain the balance distance for follower in the second stage. These methods can improve stability of the formation, to make up for the single leader-follower method. The stability of control system is verified by the Lyapunov function. Finally getting the state diachronic trend of ship formation by the simulation of straight and curve path verification, the ship state achieves consistency, reaching the goal of maintaining the formation, which obtains good results and tests the effectiveness of algorithm.
Keywords：formation controlleader-follower methodpotential functiongraph topology
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 1259-1264 )