Development of Formation Control Systems with Disturbance Rejection for Small Ships

考虑了采样数据全驱动舰船的编队控制和采样数据欠驱动舰船的直线路径跟踪控制，发展了具有干扰抑制功能的小型船舶计算机控制编队控制系统。针对这两个问题，给出了状态反馈控制器和输出反馈控制器的设计方法。仿真和实验结果表明了所提设计方法的有效性。

Formation control of sampled-data fully-actuated ships and straight-line path following control of sampled-data under-actuated ships are considered to develop computer-controlled formation control systems with disturbance rejection for small ships. The design methods of state feedback and output feedback controllers are given for both problems. Moreover, effectiveness of the proposed design methods is shown by simulation and experimental results.