Disturbance observer-based backstepping control for leader–follower ships with disturbances
Chengmei Mu, Xinjiang Wei, Huifeng Zhang, Xin Hu, Jian Han
Abstract
This paper studies leader–follower cooperative control with the slowly-varying environment disturbances of the surface ships, which are mainly caused by wind, wave and current. A disturbance observer is constructed to estimate the slowly-varying environmental disturbances. Based on disturbance observer, the control law of the follower ship is designed by backstepping technique. The disturbance observer-based leader–follower cooperative control scheme is carried out via employing stochastic control theory to analyse the close-loop system. The scheme achieves the follower ship track the leader ship with a certain error range for cooperative movement and all signals are bounded in the mean square. Finally, the results of simulation are listed to verify the scheme.