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This paper investigates the leader–follower formation problem of multiple underactuated autonomous surface vessels in the presence of model uncertainties and environmental disturbances. Specially, the formation is defined in the body-fixed coordinates of the leader vessel and velocities of the leader are unavailable to followers. A novel robust adaptive formation control scheme based on the minimal...
This brief proposes an adaptive sliding mode control law for an underactuated vessel via parameter estimation to follow a desired path. An adaptive continuous PI sliding mode scheme is devoted to enhancing the robustness of the control system and reducing the system oscillation in presence of unknown plant parameters and environmental disturbances. To address model uncertainties and unknown environmental...
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