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

fYear

2011

fDate

June 29 2011-July 1 2011

Firstpage

3984

Lastpage

3989

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2011

Conference_Location

San Francisco, CA

ISSN

0743-1619

Print_ISBN

978-1-4577-0080-4

Type

conf

DOI

10.1109/ACC.2011.5991150

Filename

5991150