This paper studies leader–follower cooperative control with the slowly-varying environment disturbances of the surface ships, which are mainly caused by wind, wave and current. A disturbance observer is constructed to estimate the slowly-varying environmental disturbances. Based on disturbance observer, the control law of the follower ship is designed by backstepping technique. The disturbance observer-based leader–follower cooperative control scheme is carried out via employing stochastic control theory to analyse the close-loop system. The scheme achieves the follower ship track the leader ship with a certain error range for cooperative movement and all signals are bounded in the mean square. Finally, the results of simulation are listed to verify the scheme.


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    Title :

    Disturbance observer-based backstepping control for leader–follower ships with disturbances


    Contributors:
    Mu, Chengmei (author) / Wei, Xinjiang (author) / Zhang, Huifeng (author) / Hu, Xin (author) / Han, Jian (author)

    Published in:

    Publication date :

    2024-04-02


    Size :

    9 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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