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In this paper, the problem of ship synchronization control with disturbance and state constraints is studied. A disturbance observer (DO) is designed to estimate and compensate the disturbance, and barrier Lyapunov function (BLF) is proposed to deal with the state constraints. The synchronous controller is proposed combining DO, BLF and backstepping techniques. The effectiveness and robustness of the proposed controller is verified through simulation examples.

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Anti-disturbance Control for Leader-Follower Ships with Disturbances and State Constraints

  • 会议论文

  • 发表日期：

    2026年

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  • Bingyang Wang,
  • Xinjiang Wei

摘要

In this paper, the problem of ship synchronization control with disturbance and state constraints is studied. A disturbance observer (DO) is designed to estimate and compensate the disturbance, and barrier Lyapunov function (BLF) is proposed to deal with the state constraints. The synchronous controller is proposed combining DO, BLF and backstepping techniques. The effectiveness and robustness of the proposed controller is verified through simulation examples.