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论文类型：会议论文

发表时间：2017-01-01

收录刊物：EI、CPCI-S

卷号：10262

页面范围：101-108

关键字：Formation control; Virtual structure; Sliding mode control; Neural networks

摘要：In this paper, a sliding mode controller is presented for the trajectory tracking by a group of ships with an established formation along a given parametrized path via neural network and sliding mode control technique. The control objective for each ship is to keep its relative positon in the formation while a virtual Formation Reference Point (FRP) tracks a predefined path. We first solve the virtual structure formation problems via sliding mode control method due to its excellent adaptability to external disturbance and system perturbation. Moreover, a radial basis function NN is considered in the design of the controller to approximate the unknown uncertainties efficiently. Some simulations are given to verify the theoretical results in this paper.