Formation Control of Marine Surface Vessel Based on Sliding Mode Control and Local State Observer

In this paper, a local observer is designed for formation control of marine surface vessel. Sliding mode control is applied to follow the desired the formation of marine surface vessel and a local state observer is designed by Linear Matrix Inequation (LMI). The goal of formation control is to keep the relative position of each marine surface vessel in the formation given in the virtual formation reference point (FRP) path is given. For controller needs a good performance of external disturbance, the sliding mode control algorithm is used in the formation control of marine surface vessel. A local state observer scheme is designed in which the parameters of the observer are computed. Various simulations are given to illustrate the controller validity.