Title :
Elastic formation control based on affine transformations
Author :
Brinon Arranz, L. ; Seuret, A. ; De Wit, C.C.
Author_Institution :
NeCS Team, INRIA Rhone-Alpes, Grenoble, France
fDate :
June 29 2011-July 1 2011
Abstract :
This paper deals with the control of a fleet of non-linear systems representing AUVs (autonomous underwater vehicles). The purpose is here to design a control law to stabilize the fleet to time-varying formations which are not only circular. A novel framework is proposed to express a general control law for a large class of formations. This is produced by applying a sequence of affine transformations such as translations, rotations and scalings. The paper also includes a cooperative control to distribute the agents along the formation which takes into account the communication constraints. The system was implemented in computer simulation, accessible through Web.
Keywords :
affine transforms; mobile robots; motion control; multi-robot systems; nonlinear control systems; position control; remotely operated vehicles; stability; time-varying systems; underwater vehicles; AUV; Web; affine transformation; autonomous underwater vehicle; control law design; cooperative control; elastic formation control; nonlinear multiagent system; nonlinear system fleet; stabilization; time-varying formation; Angular velocity; Collaboration; Equations; Kinematics; Laplace equations; Lyapunov methods; Tracking;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5991150
