UM
Finite-time formation control of under-actuated ships using nonlinear sliding mode control
Li T.2; Zhao R.2; Chen C.L.P.2; Fang L.2; Liu C.2
2018-11-01
Source PublicationIEEE Transactions on Cybernetics
ISSN21682267
Volume48Issue:11Pages:3243-3253
AbstractA 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.
KeywordFinite-time stability formation control nonlinear sliding mode control under-actuated ships
DOI10.1109/TCYB.2018.2794968
URLView the original
Language英語
Fulltext Access
Citation statistics
Cited Times [WOS]:7   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Universidade de Macau
2.Dalian Maritime University
Recommended Citation
GB/T 7714
Li T.,Zhao R.,Chen C.L.P.,et al. Finite-time formation control of under-actuated ships using nonlinear sliding mode control[J]. IEEE Transactions on Cybernetics,2018,48(11):3243-3253.
APA Li T.,Zhao R.,Chen C.L.P.,Fang L.,&Liu C..(2018).Finite-time formation control of under-actuated ships using nonlinear sliding mode control.IEEE Transactions on Cybernetics,48(11),3243-3253.
MLA Li T.,et al."Finite-time formation control of under-actuated ships using nonlinear sliding mode control".IEEE Transactions on Cybernetics 48.11(2018):3243-3253.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Li T.]'s Articles
[Zhao R.]'s Articles
[Chen C.L.P.]'s Articles
Baidu academic
Similar articles in Baidu academic
[Li T.]'s Articles
[Zhao R.]'s Articles
[Chen C.L.P.]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Li T.]'s Articles
[Zhao R.]'s Articles
[Chen C.L.P.]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.