DocumentCode
1027409
Title
Formation control of multiple underactuated surface vessels
Author
Dong, Wenjie ; Farrell, Jay A.
Author_Institution
Dept. of Electr. Eng., Univ. of California, Riverside, CA
Volume
2
Issue
12
fYear
2008
fDate
12/1/2008 12:00:00 AM
Firstpage
1077
Lastpage
1085
Abstract
The formation control of a group of underactuated surface vessels has been considered. With the aid of results from graph theory, cooperative control laws are proposed using the relative information between neighbors. The proposed control laws can make a group of surface vessels converges to a desired stationary formation and have the same orientations. Stability of the closed-loop system with time delay in the controllers is also discussed. Effectiveness of the proposed results is verified by simulation results.
Keywords
closed loop systems; delay systems; graph theory; marine systems; stability; closed-loop system stability; cooperative control; formation control; graph theory; multiple underactuated surface vessels; time delay;
fLanguage
English
Journal_Title
Control Theory & Applications, IET
Publisher
iet
ISSN
1751-8644
Type
jour
DOI
10.1049/iet-cta:20080183
Filename
4708684
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