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Mathematical Problems in Engineering
Volume 2013 (2013), Article ID 597195, 8 pages
Research Article

Robust Coordinated Control Algorithm for Multiple Marine Vessels with External Disturbances

1Bohai University, Jinzhou 121013, China
2Department of Engineering, Faculty of Engineering and Science, University of Agder, 4898 Grimstad, Norway
3No. 803 Research Institute of Shanghai Academy of Spaceflight Technology, No. 710 Yishan Road, Shanghai 200233, China

Received 16 August 2013; Accepted 23 September 2013

Academic Editor: Zhiguang Feng

Copyright © 2013 Weixue Liu et al. 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.


The problem of coordinated control for multiple marine vessels in the presence of external disturbances is considered in this paper. A robust coordinated control algorithm is proposed for multiple marine vessels. The proposed robust coordinated control algorithm is divided into two parts. The first part develops an extended state observer to estimate the disturbances of marine vessels. The second part presents a robust coordinated control algorithm based on the output of the extended state observer. Furthermore, the robust coordinated control algorithm is designed using the dynamic surface control method. In light of the leader-follower strategy, the trajectory for each vessel is defined according to the desired trajectory of the assigned leader and the relative distance with respect to the leader. The effectiveness of the proposed coordination algorithm is demonstrated by the simulation results.