#2792. Leader-follower formation control of underactuated surface vessels

November 2026publication date
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Economics, Econometrics and Finance (all);
Social Sciences (all);
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Abstract:
The article studies the management of the leader-follower formation of insufficiently involved surface vessels within the framework of SE (2). The desired building model is predetermined not in a coordinate system tied to the ground, but in a coordinate system tied to the leaders body. When designing a virtual leader, the formation problem is transformed into a trajectory tracking problem.
Keywords:
surface ships; control

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