Adaptive coordinated formation control for multiple surface vessels based on virtual leader

摘要

This paper addresses the problem of coordinated formation control for multiple surface vessels, a distributed adaptive coordinated formation control strategy based on virtual leader is present. Firstly, with the passivity-based techniques, a guided system which gives out desired trajectory signal for follower vessels is designed. Then, considering the uncertainty in mathematical mode of the vessel, a radial basis function(RBF) neural network is used to approach the uncertainty. Meanwhile, a adaptive neural network synchronization controller which control every follower vessel to track desired trajectory with a certain formation is present. After that, the stability of the controller is validated by Lyapunov theory. Finally, the simulation results show the effectiveness of the proposed control method.