Robust Coordinated Control Algorithm for Multiple Marine Vessels with External Disturbances

The problem of coordinated control for multiple marine vessels in the presence of external disturbances is considered in this paper. A robust coordinated control algorithm is proposed for multiple marine vessels. The proposed robust coordinated control algorithm is divided into two parts. The first part develops an extended state observer to estimate the disturbances of marine vessels. The second part presents a robust coordinated control algorithm based on the output of the extended state observer. Furthermore, the robust coordinated control algorithm is designed using the dynamic surface control method. In light of the leader-follower strategy, the trajectory for each vessel is defined according to the desired trajectory of the assigned leader and the relative distance with respect to the leader. The effectiveness of the proposed coordination algorithm is demonstrated by the simulation results.