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• W2799324069 abstract "This paper investigates the leader–follower formation problem of underactuated surface vessels. Velocities of both leader and follower vessels are unavailable. Model uncertainties and ocean disturbances are also considered. By incorporating adaptive control, neural networks (NNs), the high-gain observer (HGO) and the minimal learning parameter (MLP) algorithm in the backstepping procedure, a novel adaptive output-feedback formation control scheme is developed. We show that formation errors can be guaranteed to be semiglobally uniformly ultimately bounded (SGUUB) with the proposed controller. Compared with existing methods, the formation can be achieved only with position and yaw angle of both leader and follower. Meanwhile, the developed scheme can enhance the robustness of the closed-loop system with less computational effort, where only two online parameters need to be tuned. Simulation and comparison results are provided to illustrate the effectiveness of theoretical results." @default.
• W2799324069 created "2018-05-17" @default.
• W2799324069 creator A5018706453 @default.
• W2799324069 creator A5029382136 @default.
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• W2799324069 date "2018-06-01" @default.
• W2799324069 modified "2023-10-01" @default.
• W2799324069 title "Adaptive output-feedback formation control for underactuated surface vessels" @default.
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• W2799324069 doi "https://doi.org/10.1080/00207179.2018.1471221" @default.
• W2799324069 hasPublicationYear "2018" @default.
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