Leaderless and leader-follower cooperative control of multiple marine surface vehicles with unknown dynamics

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

“…On the other hand, ships are always under the effect of environmental disturbances induced by waves, wind, and ocean currents. In view of the great approximation capability, neural networks or fuzzy logic systems have been widely used to compensate for unknown vessel dynamics . Since such a property is valid on a compact set, global stability was lost.…”

“…ZHANG AND YANG 4189for unknown vessel dynamics. [13][14][15][16][17][18][19] Since such a property is valid on a compact set, global stability was lost. In addition, owing to the existence of approximation errors, only uniform ultimate boundedness stability was guaranteed, and the tracking accuracy was not prior known.…”

Path following of marine surface vehicles with dynamical uncertainty and time-varying ocean disturbances

“…Various control methods have been adopted, ranging from PID control [5], sliding mode control [4,10], backstepping control [7] and fuzzy control [6]. In addition, there have been considerable studies in NN based velocity controller for MSVs, due to the approximation capacity of NN for nonlinear dynamics [10,11,12,13,14,15,16]. In [10], an adaptive NN scheme together with sliding mode control is proposed for path following control of underactuated surface vessels.…”

Containment control of networked autonomous underwater vehicles with model uncertainty and ocean disturbances guided by multiple leaders

“…Coordinated control of autonomous marine vehicles, including autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs), has drawn great attention from control communities [17,30,7,8,25,27]. This is partially due to their broad applications for marine operations, such as cooperative search and rescue, coordinated exploration and exploitation, sensor networks, etc.…”

“…Coordinated control of marine vehicles in the presence of single leader has been investigated in [17,30,7,8,25,27]. In [17], a nonlinear control law is derived to steer two marine vehicles along identical parallel paths, targeted on combined ASV/AUV control.…”