Formation control of multiple underactuated surface vessels

被引：68

作者：

Dong, W. ^{[1
]}

Farrell, J. A. ^{[1
]}

机构：

[1] Univ Calif Riverside, Dept Elect Engn, Riverside, CA 92521 USA

来源：

IET CONTROL THEORY AND APPLICATIONS | 2008年 / 2卷 / 12期

基金：

美国国家科学基金会;

关键词：

D O I：

10.1049/iet-cta:20080183

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The formation control of a group of underactuated surface vessels has been considered. With the aid of results from graph theory, cooperative control laws are proposed using the relative information between neighbors. The proposed control laws can make a group of surface vessels converges to a desired stationary formation and have the same orientations. Stability of the closed-loop system with time delay in the controllers is also discussed. Effectiveness of the proposed results is verified by simulation results.

引用

页码：1077 / 1085

页数：9

共 17 条

[1] [Anonymous], P 2006 IEEE RSJ INT
[2] [Anonymous], IEEE T AUTOMATIC CON
[3] A coordination architecture for spacecraft formation control
Beard, RW
Lawton, J
Hadaegh, FY
[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2001, 9 (06) : 777 - 790
[4] Cross-track formation control of underactuated surface vessels
Borhaug, Even
Pavlov, Alexey
Pettersen, Kristin Y.
[J]. PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2006, : 5955 - 5961
[5] Modeling and control of formations of nonholonomic mobile robots
Desai, JP
Ostrowski, JP
Kumar, V
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2001, 17 (06): : 905 - 908
[6] Global time-varying stabilization of underactuated surface vessel
Dong, WJ
Guo, Y
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2005, 50 (06) : 859 - 864
[7] Information flow and cooperative control of vehicle formations
Fax, JA
Murray, RM
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2004, 49 (09) : 1465 - 1476
[8] Coordination of groups of mobile autonomous agents using nearest neighbor rules
Jadbabaie, A
Lin, J
Morse, AS
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2003, 48 (06) : 988 - 1001
[9] Decentralized control of vehicle formations
Lafferriere, G
Williams, A
Caughman, J
Veerman, JJP
[J]. SYSTEMS & CONTROL LETTERS, 2005, 54 (09) : 899 - 910
[10] A decentralized approach to formation maneuvers
Lawton, JRT
Beard, RW
Young, BJ
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2003, 19 (06): : 933 - 941

← 1 2 →