This paper develops a novel leader-follower cooperative control scheme for leader-follower ships with slowly time-varying disturbance and thruster fault. The composite anti-disturbance control strategy is employed to improve anti-disturbance accuracy via using disturbance observer(DO) and adaptive fault observer(AFO). In this context, the leader-follower cooperative control law is presented by utilizing back-stepping method. The follower ship tracks the leader ship with arbitrary precision such that the leader-follower ships can cooperative movement. Finally, simulations are carried out for leader-follower ships.
Cooperative Anti-disturbance Control for Leader-Follower Ships with Disturbance and Loss-of-Effectiveness Fault
Lect. Notes Electrical Eng.
Chinese Intelligent Systems Conference ; 2023 ; Ningbo, China October 14, 2023 - October 15, 2023
2023-10-08
11 pages
Article/Chapter (Book)
Electronic Resource
English
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