Formation Control For Marine Surface Vessels Based On Rigid Structure

The dynamics of marine surface vessels are characterized by intrinsic nonlinear,underactuation and time varying disturbances.Thus,the motion control problems of marine surface vessels received extensive attention of researchers.The traditional marine control problem focused on the motion control problems of single vessel.However,with the rapid development of marine technology,there is crying needs for cooperative of multi-vessels to perform difficult tasks,such as naval fleet operation,marine replenishment,environmental monitoring,oil and natural gas prospecting and so on.For these applications,the formation control technique is undoubtedly one of the most important techniques.In recent years,the marine control community has focused on the pursuit of effective methods to achieve the multi-vessels formation control with the problem of high nonlinearity,non-integrality,model uncertainty,external disturbance and so on.Moreover,many good results have been obtained,but there are still problem to be solved.In this paper,the research of marine surface vessels formation structure based on the deep analysis of previous research results have been carried out,and the main contribution of this are as follows:Firstly,by using sliding mode control(SMC)method,an adaptive neural network formation control method under the virtual structure formation framework is explored for multi-vessels system to tracking the desired trajectory with designed formation accurately.Lyapunov stability theory is used to prove the stability of the control system.Simulation results based on MATLAB are presented to illustrate the effectiveness of the proposed arithmetic.Secondly,by using backstepping control technique,an adaptive formation control method based on the rigidity graph theory is proposed.Thus,the implement of formation stopped depending on the coordinates in the earth-fixed coordinates.Lyapunov stability theory is used to prove the stability of the control system.Simulation results based on MATLAB are presented to illustrate the effectiveness of the proposed arithmetic.Finally,this paper is summarized.And the problem to be solved in the future work on formation control problem of marine surface vessels are proposed.