Finite-Time Formation Control of Under-Actuated Ships Using Nonlinear Sliding Mode Control

By Tie-shan Li, Rong Zhao, Liyou Fang, Cheng Liu. IEEE Transactions on Cybernetics, 2018

344 citations recorded by the source corpus.

A novel nonlinear sliding mode control approach dealing with the formation control of under-actuated ships is presented in this paper. To avoid the singularity problem, state space of the system is partitioned into two regions, with one region bounded for terminal sliding mode control and its complement singular for that. And a linear auxiliary sliding mode controller is designed for system trajectories starting from the complement region. With the application of nonlinear sliding mode control approach and finite-time stability theory, a distributed controller is designed for individual under-actuated ship to achieve the given formation pattern within a finite time. Finally, two simulation examples are provided to verify the effectiveness and performance of the proposed approach.

Subfields: Computer Networks and Communications, Control and Systems Engineering, Ocean Engineering

View Paper: https://www.semanticscholar.org/paper/1567e811375f3f4d6bb0f041e16e8f317984f344

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Computer Networks and Communications

1. Jun Wang
2. Zhouhua Peng
3. Shaocheng Tong
4. Dan Wang
5. Yong-ming Li
6. Qing-Long Han
7. Tie-shan Li
8. Yang Xiao

In Control and Systems Engineering

1. Shaocheng Tong
2. Yong-ming Li
3. Jun Wang
4. Zhouhua Peng
5. Tie-shan Li
6. Dan Wang
7. Qing-Long Han
8. Shuzhi Sam Ge

In Ocean Engineering

1. Jun Wang
2. Zhouhua Peng
3. Dan Wang
4. Qing-Long Han

Citations in the corpus

• An Overview of Recent Advances in Coordinated Control of Multiple Autonomous Surface Vehicles (2021, methodology): “In order to achieve finite-time convergence, sliding mode distributed formation control for underactuated ASVs is presented [30].”
• A Survey of Autonomous Underwater Vehicle Formation: Performance, Formation Control, and Communication Capability (2021, background): “Up to now, many kinds of leader follower strategies are proposed [93], [100], [101], such as single leader strategies, multiple leader strategies, and virtual leader strategies, etc., as shown in Fig.”
• Observer-Based Fuzzy Adaptive Finite-Time Containment Control of Nonlinear Multiagent Systems With Input Delay (2020, background): “…finite-time control has attracted great attention of many scholars, and some meaningful adaptive intelligent control schemes are established [18]–[28], which study a single nonlinear system rather than nonlinear MASs. Recently, Cai et al. [29], Zhang et al. [30], and Wang and Song [31] proposed…”