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Polish Maritime Research
Volume 28 (2021): Issue 1 (March 2021)
Open Access
Method of Cooperative Formation Control for Underactuated USVS Based on Nonlinear Backstepping and Cascade System Theory
Zaopeng Dong
Zaopeng Dong
,
Yang Liu
Yang Liu
,
Hao Wang
Hao Wang
and
Tao Qin
Tao Qin
| Apr 30, 2021
Polish Maritime Research
Volume 28 (2021): Issue 1 (March 2021)
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Published Online:
Apr 30, 2021
Page range:
149 - 162
DOI:
https://doi.org/10.2478/pomr-2021-0014
Keywords
unmanned surface vehicle (USV)
,
cooperative formation control
,
underactuated system
,
nonlinear backstepping
,
cascade system theory
© 2021 Zaopeng Dong et al., published by Sciendo
This work is licensed under the Creative Commons Attribution 4.0 International License.
Zaopeng Dong
Key Laboratory of High Performance Ship Technology, Wuhan University of Technology, Ministry of Education, Wuhan University of Technology
Wuhan, China
School of Transportation Wuhan University of Technology
Wuhan, China
Yang Liu
Key Laboratory of High Performance Ship Technology, Wuhan University of Technology, Ministry of Education, Wuhan University of Technology
Wuhan, China
School of Transportation Wuhan University of Technology
Wuhan, China
Hao Wang
Key Laboratory of High Performance Ship Technology, Wuhan University of Technology, Ministry of Education, Wuhan University of Technology
Wuhan, China
School of Transportation Wuhan University of Technology
Wuhan, China
Tao Qin
School of Mechanical Engineering Hubei University of Arts and Sciences
Xiangyang, China