Title :
Formation control of marine craft using constraint functions
Author :
Ihle, Ivar-Andre F. ; Jouffroy, Jerome ; Fossen, Thor I.
Author_Institution :
Centre for Ships & Ocean Structures, Norwegian Univ. of Sci. & Technol., Trondheim
Abstract :
This article presents a method for formation control of marine surface vessels inspired by Lagrangian mechanics. The desired formation configuration is given as a set of constraint functions. The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Since the constraint functions are designed for a desired effect, the forces can be seen as control laws. These forces act so that the constraint functions are satisfied in order to keep the formation assembled during operations. Examples of constraint functions that can be used to maintain a formation are presented. Simulations with surface vessel models have been performed to illustrate the proposed method
Keywords :
feedback; marine vehicles; motion control; oceanographic equipment; position control; Lagrangian mechanics; constraint forces; constraint functions; feedback; formation configuration; marine craft formation control; marine surface vessels; Animals; Biological control systems; Biological system modeling; Communication system control; Control system synthesis; Control systems; Educational institutions; Marine vehicles; Oceans; Space vehicles;
Conference_Titel :
OCEANS, 2005. Proceedings of MTS/IEEE
Conference_Location :
Washington, DC
Print_ISBN :
0-933957-34-3
DOI :
10.1109/OCEANS.2005.1639888
