Cooperative Adaptive Tracking Control of Random Surface Vessel Multi-Agent Systems

This paper investigates the cooperative adaptive tracking control of random surface vessel multi-agent systems based on network graph structure. Firstly, we establish the model of random surface vessel multi-agent systems with three free degree. Secondly, a new cooperative adaptive tracking controller is constructed such that each follower's output can track the leader's output as close as possible in the mean square sense based on the communication topology graph of random surface vessel multi-agent systems. Finally, the effectiveness of the proposed control scheme is verified by a simulation example.