In this paper, a novel hybrid strategy is proposed for unmanned surface vehicle (USV) formation control.The strategy is divided\ninto two subsystems: a virtual velocity controller based on the bioinspired model and a dynamic controller based on the slidingmode\nmodel.The proposed control scheme solves the problem of a speed jump that occurs in the traditional backsteppingmethod\nwhen the margin of error increases suddenly, and it also satisfies the actuator control constraint. Additionally, a dynamic controller\nis designed, combining the sliding mode with the proposed virtual controller, to avoid the traditional chattering problem. System\nstability is proven by the Lyapunov theory. Simulation results verify the effectiveness of the proposed controller.
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