圖  1  北－東坐標系的無(wú)人艇編隊運動(dòng)曲線(xiàn)

Fig.  1  Unmanned surface vehicles＇ moving curve in the north-east frame

圖  2  無(wú)人艇間的通信關(guān)系

Fig.  2  The communication relationship of unmanned surface vehicles

圖  3  北?東坐標系下編隊運動(dòng)曲線(xiàn)

Fig.  3  Formation moving curve in the north-east frame

圖  4  各無(wú)人艇運動(dòng)速度曲線(xiàn)

Fig.  4  Velocity curve of unmanned surface vehicles

圖  5  各無(wú)人艇位置和艏向角變化曲線(xiàn)

Fig.  5  Position and heading variation curve of each unmanned surface vehicles

圖  6  各無(wú)人艇的編隊誤差曲線(xiàn)

Fig.  6  Formation error curve of unmanned surface vehicles

圖  7  無(wú)人艇編隊位姿誤差在同一時(shí)刻收斂曲線(xiàn)

Fig.  7  Formation position and attitude-error convergence curve of all degrees of freedom formation errors at the same time

圖  8  跟隨者 1 在 3 個(gè)自由度方向的外界環(huán)境干擾和模型不確定性實(shí)際值與估計值

Fig.  8  Actual and estimated-values of external disturbances and model uncertainties for follower 1 in three degrees of freedom

圖  9  改變初始值編隊位姿誤差收斂曲線(xiàn)

Fig.  9  Formation position and attitude-error convergence curve in the situation of the initial values changed

圖  10  基于符號函數的有限時(shí)間非線(xiàn)性滑?？刂凭庩犖蛔苏`差收斂曲線(xiàn)^[25]

Fig.  10  Formation position and attitude-error convergence curve of finite time nonlinear sliding mode control error based on sign function^[25]

圖  11  線(xiàn)性滑?？刂频木庩犖蛔苏`差收斂曲線(xiàn)

Fig.  11  Formation position and attitude-error convergence curve of linear sliding mode control

圖  12  超螺旋干擾觀(guān)測器觀(guān)測值與實(shí)際值^[21]

Fig.  12  Observe and actual value of the super-twisting disturbance observer proposed^[21]