Cross-track formation control of underactuated surface vessels

Author

Borhaug, E. ; Pavlov, Alexey ; Pettersen, Kristin Y.

Author_Institution

Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol.

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

5955

Lastpage

5961

Abstract

The problem of cross-track formation control for underactuated 3-degrees-of-freedom (3-DOF) surface vessels is considered. The proposed decentralized controllers make the vessels asymptotically constitute a desired formation that follows a given straight-line path with a given forward speed profile. The proposed controllers consist of two blocks. The first block, which is based on a line of sight (LOS) guidance law, makes every vessel asymptotically follow straight line paths corresponding to the desired formation motion. The second block manipulates the forward speed of every vessel in such a way that they asymptotically converge to the desired formation and move with a desired forward speed profile. The results are illustrated with simulations

Keywords

distributed control; underwater vehicles; cross-track formation control; decentralized controllers; line of sight guidance law; underactuated surface vessels; Automatic control; Communication system control; Control systems; Marine vehicles; Mobile communication; Mobile robots; Sea surface; USA Councils; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2006 45th IEEE Conference on

Conference_Location

San Diego, CA

Print_ISBN

1-4244-0171-2

Type

conf

DOI

10.1109/CDC.2006.377687

Filename

4177534