Leader–follower close formation control for underactuated surface vessel via terminal hierarchical sliding mode
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DOI: 10.1177/1729881420921012
Abstract: This article is concerned with the close formation problem of multiple underactuated surface vessels in the presence of model uncertainties, roll motion, and environmental disturbances. To effectively address these issues, a novel control scheme considering… read more here.
Keywords: terminal hierarchical; close formation; control; formation ... See more keywords