About this Journal Submit a Manuscript Table of Contents
Abstract and Applied Analysis
Volume 2014 (2014), Article ID 807102, 10 pages
http://dx.doi.org/10.1155/2014/807102
Research Article

Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels

College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, China

Received 9 December 2013; Accepted 5 January 2014; Published 4 March 2014

Academic Editor: Shen Yin

Copyright © 2014 Jianfang Jiao and Mingyu Fu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. I. Ihle, Coordinated control of marine craft [Ph.D. thesis], Norwegian University of Science and Technology, 2006.
  2. W. Ren, R. W. Beard, and E. M. Atkins, “A survey of consensus problems in multi-agent coordination,” in Proceedings of the American Control Conference (ACC '05), pp. 1859–1864, June 2005. View at Scopus
  3. F. Fahimi, “Non-linear model predictive formation control for groups of autonomous surface vessels,” International Journal of Control, vol. 80, no. 8, pp. 1248–1259, 2007. View at Publisher · View at Google Scholar · View at MathSciNet
  4. I.-A. F. Ihle, J. Jouffroy, and T. I. Fossen, “Formation control of marine surface craft: a lagrangian approach,” IEEE Journal of Oceanic Engineering, vol. 31, no. 4, pp. 922–934, 2006. View at Publisher · View at Google Scholar · View at Scopus
  5. F. Arrichiello, S. Chiaverini, and T. Fossen, “Formation control of underactuated surface vessels using the null-space-based behavioral control,” in Proceedings of IEEE International Conference on Interlligent Robots and Systems, pp. 5942–5947, 2006.
  6. J. Almeida, C. Silvestre, and A. M. Pascoal, “Cooperative control of multiple surface vessels with discrete-time periodic communications,” International Journal of Robust and Nonlinear Control, vol. 22, no. 4, pp. 398–419, 2012. View at Publisher · View at Google Scholar · View at Zentralblatt MATH · View at MathSciNet
  7. C. Thorvaldsen and R. Skjetne, “Formation control of fully-actuated marine vessels using group agreement protocols,” in Proceedings the 50th IEEE Conference on Decision and Control and European Control Conference, pp. 4132–4139, 2011.
  8. Y. Wang, W. Yan, and J. Li, “Passivity-based formation control of autonomous underwater vehicles,” IET Control Theory & Applications, vol. 6, no. 4, pp. 518–525, 2012. View at Publisher · View at Google Scholar · View at MathSciNet
  9. M. Fu and J. Jiao, “A hybrid approach for coordinated formation control of multiple surface vessels,” Mathematical Problems in Engineering, vol. 2013, Article ID 794284, 8 pages, 2013. View at Publisher · View at Google Scholar · View at MathSciNet
  10. E. Kyrkjebø, K. Y. Pettersen, M. Wondergem, and H. Nijmeijer, “Output synchronization control of ship replenishment operations: theory and experiments,” Control Engineering Practice, vol. 15, no. 6, pp. 741–755, 2007. View at Publisher · View at Google Scholar · View at Scopus
  11. M. Breivik, V. E. Hovstein, and T. I. Fossen, “Ship formation control: a guided leader-follower approach,” in Proceedings of the 17th World Congress, International Federation of Automatic Control (IFAC '08), pp. 16008–16014, July 2008. View at Publisher · View at Google Scholar · View at Scopus
  12. N. E. Leonard and E. Fiorelli, “Virtual leaders, artificial potentials and coordinated control of groups,” in Proceedings of the 40th IEEE Conference on Decision and Control (CDC '01), pp. 2968–2973, December 2001. View at Scopus
  13. H. Shi, L. Wang, and T. Chu, “Virtual leader approach to coordinated control of multiple mobile agents with asymmetric interactions,” Physica D, vol. 213, no. 1, pp. 51–65, 2006. View at Publisher · View at Google Scholar · View at Zentralblatt MATH · View at MathSciNet
  14. W. Ren, “Consensus tracking under directed interaction topologies: algorithms and experiments,” IEEE Transactions on Control Systems Technology, vol. 18, no. 1, pp. 230–237, 2010. View at Publisher · View at Google Scholar · View at Scopus
  15. W. Yu, G. Chen, and M. Cao, “Consensus in directed networks of agents with nonlinear dynamics,” IEEE Transactions on Automatic Control, vol. 56, no. 6, pp. 1436–1441, 2011. View at Publisher · View at Google Scholar · View at MathSciNet
  16. W. Yu, G. Chen, M. Cao, and J. Kurths, “Second-Order consensus for multiagent systems with directed topologies and nonlinear dynamics,” IEEE Transactions on Systems, Man, and Cybernetics B, vol. 40, no. 3, pp. 881–891, 2010. View at Publisher · View at Google Scholar · View at Scopus
  17. W. Zhang, Z. Wang, and Y. Guo, “Adaptive backstepping-based synchronization of uncertain networked Lagrangian systems,” in Proceedings of the American Control Conference (ACC '11), pp. 1057–1062, July 2011. View at Scopus
  18. M. Fu, J. Jiao, J. Liu, and Y. Wang, “Coordinated formation control of nonlinear marine vessels under directed communication topology,” in Proceedings of MTS/IEEE Conference on Oceans, pp. 1–7, 2013. View at Publisher · View at Google Scholar
  19. S. P. Bhat and D. S. Bernstein, “Finite-time stability of continuous autonomous systems,” SIAM Journal on Control and Optimization, vol. 38, no. 3, pp. 751–766, 2000. View at Publisher · View at Google Scholar · View at Zentralblatt MATH · View at MathSciNet
  20. M. Fu, J. Jiao, and S. Yin, “Robust coordinated formation for multiple surface vessels based on backstepping sliding mode control,” Abstract and Applied Analysis, vol. 2013, Article ID 681319, 10 pages, 2013. View at Publisher · View at Google Scholar · View at MathSciNet
  21. L. Wang and F. Xiao, “Finite-time consensus problems for networks of dynamic agents,” IEEE Transactions on Automatic Control, vol. 55, no. 4, pp. 950–955, 2010. View at Publisher · View at Google Scholar · View at MathSciNet
  22. S. Khoo, L. Xie, and Z. Man, “Robust finite-time consensus tracking algorithm for multirobot systems,” IEEE/ASME Transactions on Mechatronics, vol. 14, no. 2, pp. 219–228, 2009. View at Publisher · View at Google Scholar · View at Scopus
  23. F. Xiao, L. Wang, J. Chen, and Y. Gao, “Finite-time formation control for multi-agent systems,” Automatica, vol. 45, no. 11, pp. 2605–2611, 2009. View at Publisher · View at Google Scholar · View at Zentralblatt MATH · View at MathSciNet
  24. H. Du, S. Li, and X. Lin, “Finite-time formation control of multiagent systems via dynamic output feedback,” International Journal of Robust and Nonlinear Control, vol. 23, no. 14, pp. 1609–1628, 2013. View at Publisher · View at Google Scholar · View at MathSciNet
  25. S. Li and X. Wang, “Finite-time consensus and collision avoidance control algorithms for multiple AUVs,” Automatica, vol. 49, no. 11, pp. 3359–3367, 2013. View at Publisher · View at Google Scholar · View at MathSciNet
  26. S. Yin, S. Ding, and H. Luo, “Real-time implementation of fault tolerant control system with performance optimization,” IEEE Transactions on Industrial Electronics, vol. 64, no. 5, pp. 2402–2411, 2014.
  27. S. Yin, G. Wang, and H. Karimi, “Data-driven design of robust fault detection system for wind turbines,” Mechatronics, 2013. View at Publisher · View at Google Scholar
  28. S. Yin, S. Ding, A. Haghani, H. Hao, and P. Zhang, “A comparison study of basic data-driven fault diagnosis and process monitoring methods on the benchmark Tennessee Eastman process,” Journal of Process Control, vol. 22, no. 9, pp. 1567–1581, 2012. View at Publisher · View at Google Scholar
  29. S. Yin, S. X. Ding, A. H. A. Sari, and H. Hao, “Data-driven monitoring for stochastic systems and its application on batch process,” International Journal of Systems Science, vol. 44, no. 7, pp. 1366–1376, 2013. View at Publisher · View at Google Scholar · View at Zentralblatt MATH · View at MathSciNet
  30. J. Huang, H. Li, Y. Chen, and Q. Xu, “Robust position control of PMSM using fractional-order sliding mode controller,” Abstract and Applied Analysis, vol. 2012, Article ID 512703, 33 pages, 2012. View at Publisher · View at Google Scholar · View at Zentralblatt MATH · View at MathSciNet
  31. E. A. Tannuri, A. C. Agostinho, H. M. Morishita, and L. Moratelli, “Dynamic positioning systems: an experimental analysis of sliding mode control,” Control Engineering Practice, vol. 18, no. 10, pp. 1121–1132, 2010. View at Publisher · View at Google Scholar · View at Scopus
  32. H. Ashrafiuon, K. R. Muske, L. C. McNinch, and R. A. Soltan, “Sliding-mode tracking control of surface vessels,” IEEE Transactions on Industrial Electronics, vol. 55, no. 11, pp. 4004–4012, 2008. View at Publisher · View at Google Scholar · View at Scopus
  33. F. Fahimi, “Sliding-mode formation control for underactuated surface vessels,” IEEE Transactions on Robotics, vol. 23, no. 3, pp. 617–622, 2007. View at Publisher · View at Google Scholar · View at Scopus
  34. M. Defoort, T. Floquet, A. Kökösy, and W. Perruquetti, “Sliding-mode formation control for cooperative autonomous mobile robots,” IEEE Transactions on Industrial Electronics, vol. 55, no. 11, pp. 3944–3953, 2008. View at Publisher · View at Google Scholar · View at Scopus
  35. D. Zhao and T. Zou, “A finite-time approach to formation control of multiple mobile robots with terminal sliding mode,” International Journal of Systems Science, vol. 43, no. 11, pp. 1998–2014, 2012. View at Publisher · View at Google Scholar · View at MathSciNet
  36. T. Fossen, Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles, Marine Cybernetics, Trondheim, Norway, 2002.
  37. S. P. Bhat and D. S. Bernstein, “Finite-time stability of continuous autonomous systems,” SIAM Journal on Control and Optimization, vol. 38, no. 3, pp. 751–766, 2000. View at Publisher · View at Google Scholar · View at Zentralblatt MATH · View at MathSciNet