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

fYear

2005

fDate

17-23 Sept. 2005

Firstpage

1023

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;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS, 2005. Proceedings of MTS/IEEE

Conference_Location

Washington, DC

Print_ISBN

0-933957-34-3

Type

conf

DOI

10.1109/OCEANS.2005.1639888

Filename

1639888