Robust Synchronization Control of Multiple Vessels with Disturbances

With external disturbances, an robust synchronization control approach is present. Then the robust synchronization control system comprises a disturbances observer and an controller. The disturbances observer is used to estimating the disturbances. And the errors of vessels are introduced to the controller. Meanwhile, the stability of the disturbances observer and the controller are proved by the Lyapunov theory. Finally, simulations are carried out to show effectiveness of the proposed control strategy.