Robust fuzzy dynamic surface formation control for underactuated ships using MLP and LFG

Figures & data

Figure 1. Schematic diagram of the leader-following framework.

Table 1. Model parameters of the considered underactuated surface vehicles.

Parameter	Value	Parameter	Value
$m_u$	1.200e5	$d_{u2}$	4.300e3
$m_v$	1.779e5	$d_{v2}$	2.940e4
$m_r$	6.360e7	$d_{r2}$	1.604e6
$d_u$	2.150e4	$d_{u3}$	2.150e3
$d_v$	1.470e5	$d_{v3}$	1.470e4
$d_r$	8.020e6	$d_{r3}$	8.020e5

Figure 2. Trajectory of formation under the 2D plane.

Figure 3. The velocity values of USVs under the proposed algorithm.

Figure 4. The tracking errors of USVs of the proposed algorithm.

Figure 5. The control efforts of the proposed algorithm.

Figure 6. The adaptive laws: ${\hat{\lambda }}_u$, ${\hat{\lambda }}_r$ (dashed line) and ${\hat{\lambda }}_{uf}$, ${\hat{\lambda }}_{rf}$ (solid line).

Data availability statement

The data that support the findings of this study are available from the corresponding author, Guoqing Zhang, upon reasonable request.