Cooperative tracking of marine vessels based on sliding mode

A novel cooperative tracking method for multiple vessels is presented. The dynamics of underactuated vessels are described firstly, we are especially interested in situations for which there are environmental disturbances induced by wind, waves and ocean currents. Then tracking errors are analyzed and a sliding mode tracking controller is designed to solve the consensus problem of underactuated vessels, and the stability of the system is discussed. Some convincing simulation results are provided to illustrate the theoretical results.

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