ObjectiveIn order to solve the problems of most current ship formation control algorithms such as their long control cycle and poor timeliness, this paper proposes a finite-time control strategy based on an extended state observer (ESO).MethodsFirst, a nonlinear terminal sliding-mode control algorithm is proposed which overcomes the singularity problem of the traditional terminal sliding-mode by designing the control law in different regions. Then, the nonlinear terminal sliding-mode control and graph theory are then combined to realize finite-time ship formation control. In addition, the ESO is used to observe and compensate for the uncertainties and external disturbances in the ship model in order to ensure the accuracy of ship formation control. Finally, the Lyapunov theorem are used to verify the stability of the ship formation control law. ResultsThe simulation results show that the system error of the whole formation approaches zero in about five seconds using the proposed control strategy, thus its achieves stability.ConclusionsThe proposed control strategy can effectively control ship formation and has fast control speed and good timeliness.


    Access

    Download


    Export, share and cite



    Title :

    Finite-time ship formation control based on extended state observer


    Contributors:
    Jun NING (author) / Hanmin CHEN (author) / Wei LI (author) / Qifu WANG (author) / Tieshan LI (author) / Junlong CHEN (author)


    Publication date :

    2023




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Finite-time convergent sliding-mode guidance law based on Extended-State-Observer

    Zhang, Denghui / Chao, Tao / Wang, Songyan et al. | IEEE | 2016


    Finite-time extended state observer based sliding mode control for a VTOL multi-rotors UAV

    Mokhtari, M Rida / Cherki, Brahim / Choukchou Braham, Amal | IEEE | 2023


    Extended state observer-based finite-time guidance laws on account of thruster dynamics

    Duan, Meijun / Zhou, Di / Cheng, Dalin | SAGE Publications | 2019


    On a Novel Sliding Mode Extended State Observer with Finite-time Convergence

    Huang, G.-y. / Jiang, C.-s. / Wang, Y.-h. et al. | British Library Online Contents | 2008


    A Finite-Time Fractional-Order Error Extended State Observer for Hypersonic Vehicle

    Mingfei Zhao / Jia Song / Yunlong Hu et al. | DOAJ | 2024

    Free access