Ship formation control via output feedback with unknown dynamics
LIN An-hui
JIANG De-song
ZENG Jian-ping
Abstract：This paper focuses on the ship formation control problem via output feedback, with only the information of the relative positions and relative heading angles available. Firstly, the kinematic model of the ship formation is es-tablished using the leader-follower strategy. Then the system is decoupled into three subsystems via the diffeomorphism transformation. According to the low frequency characteristics of the ship motion, and the assumption that the viscous hydrodynamic forces and moments in the hydrodynamic models of the follower ships are unknown and the velocities of all the ships are unmeasurable,the high-gain generalized proportion-integral observers are proposed to estimate the unknown and unmeasurable dynamics. On the basis of the high-gain generalized proportion-integral observers, the linear output feedback controllers and the output feedback controllers with input saturation are designed respectively,and the stability of the closed-loop systems is analyzed.Finally,the simulation results show the effectiveness of the proposed approach.
Keywords：ship formation controlunmeasurable velocityunknown viscous hydrodynamic forces and momentsoutput feedbackstate estimationinput saturation
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 1222-1229 )