#4976. Leader-follower formation control of underactuated surface vessels

July 2026publication date
Proposal available till 18-05-2025
4 total number of authors per manuscript0 $

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Journal’s subject area:
Computer Science Applications;
Theoretical Computer Science;
Control and Systems Engineering;
Information Systems and Management;
Software;
Artificial Intelligence;
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Abstract:
This article is concerned with the close formation problem of multiple underactuated surface vessels in the presence of model uncertainties, roll motion, and environmental disturbances. To effectively address these issues, a novel control scheme considering roll stabilization is designed by combing terminal hierarchical sliding mode control with Lyapunov direct method, which can quickly ensure a small formation error in a finite-time for vessels. Meanwhile, a new switching gain adaptation mechanism is utilized to reduce chattering and acquire faster adaptive rate without the excessive temporary tracking errors. Radial basis function neural network and finite-time observer are employed to deal with model uncertainties and disturbances, respectively. Furthermore, dynamic surface control technology is introduced to reduce the complexity of control law. Various simulations and comparison results are conducted to verify the effectiveness of theoretical results.
Keywords:
Close formation control, underactuated surface vessel, roll stabilization, terminal hierarchical sliding mode control, switching gain adaptation mechanism, dynamics surface control

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