The problem of formation control and path following for underactuated 3-degrees-of-freedom (DOF) surface vessels is considered. The proposed decentralized controller makes the vessels asymptotically constitute a desired formation that follows a given straight line path with a given forward speed profile. The controller consists of a line-of-sight guidance law and a coordination control law. In this work simplifying assumptions from previous works on this subject are avoided and a complete stability analysis is provided. The results are illustrated with simulations.
Straight line path following for formations of underactuated surface vessels
Geradeausfahrt-Folgeregelung für Formationen unteraktuierter Überwasserschiffe
2009
6 Seiten, 3 Bilder, 21 Quellen
Aufsatz (Konferenz)
Englisch
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