Model-free fully-distributed unmanned ship cooperative time-varying formation control method based on body coordinate system

• Main Authors: SU YUMIN, ZHU CHENG, ZHANG LEI, ZHUANG JIAYUAN, HUANG BING, ZHOU BIN
• Format: Patent
• Language: Chinese; English
• Published: 09.08.2022
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention provides a model-free fully-distributed unmanned ship cooperative time-varying formation control method based on a body coordinate system. The method comprises the following steps: (1) establishing a communication topology based on stress constraint; (2) establishing an expected format...