Cross-track formation control of underactuated surface vessels

被引：28

作者：

Borhaug, Even ^{[1
]}

Pavlov, Alexey ^{[1
]}

Pettersen, Kristin Y. ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, NO-7491 Trondheim, Norway

来源：

PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2006年

关键词：

D O I：

10.1109/CDC.2006.377687

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 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.

引用

页码：5955 / 5961

页数：7

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