Chinese Journal of Ship Research, Volume. 20, Issue 1, 191(2025)

KFESO-based composite anti-disturbance control for distributed cooperative path following of unmanned surface vehicles

Haoyu CHEN1... Haixiang XU2, Xiao WEI1, Jian WANG1 and Wei CHEN1 |Show fewer author(s)
Author Affiliations
  • 1China Ship Development and Design Center, Wuhan 430064, China
  • 2School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan 430063, China
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    Figures & Tables(16)
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    • Table 1. MSE of position estimation errors for USV1

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      Table 1. MSE of position estimation errors for USV1

      方法北向位置估计误差/m东向位置估计误差/m艏向位置估计误差/rad
      10.018 50.023 50.016 7
      20.273 00.244 60.081 3
    • Table 2. MSE of velocity estimation errors for USV1

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      Table 2. MSE of velocity estimation errors for USV1

      方法纵向速度估计误差/(m·s−1)横向速度估计误差/(m·s−1)转艏角速度估计误差/(rad·s−1)
      10.004 90.008 40.003 8
      20.028 20.032 20.058 2
    • Table 3. MSE of disturbance estimation errors for USV1

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      Table 3. MSE of disturbance estimation errors for USV1

      方法纵向扰动估计误差/(m2·s−1)横向扰动估计误差/(m2·s−1)艏向扰动估计误差/(rad2·s−1)
      10.004 90.008 40.003 8
      20.028 20.032 20.058 2
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    Haoyu CHEN, Haixiang XU, Xiao WEI, Jian WANG, Wei CHEN. KFESO-based composite anti-disturbance control for distributed cooperative path following of unmanned surface vehicles[J]. Chinese Journal of Ship Research, 2025, 20(1): 191

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    Paper Information

    Category: Motion Control

    Received: Jun. 3, 2024

    Accepted: Jan. 3, 2025

    Published Online: Mar. 13, 2025

    The Author Email:

    DOI:10.19693/j.issn.1673-3185.03983

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