Distributed Formation Control for Underactuated, Unmanned Surface Vehicles with Uncertainties and Disturbances

Distributed Formation Control for Underactuated, Unmanned Surface Vehicles with Uncertainties and Disturbances

This paper investigates the distributed formation control problem of underactuated unmanned surface vehicles (UUSVs) with uncertainties and disturbances and proposes a novel distributed formation controller. The proposed controller redefines the dynamic and kinematic models for each UUSV, which redu...

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Bibliographic Details
Main Authors: Wenbin Huang, Yuxin Zheng, Lei Zhang, Yanhao Li, Xi Chen
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Applied Sciences
Subjects:
UUSV
distributed control
formation control
dynamic surface control
Online Access:https://www.mdpi.com/2076-3417/14/24/12064
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