Title :
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.
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;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377687
