A nonlinear robust model-based sliding mode formation controller is proposed and tested. For the operation of arbitrary formation configurations two leader-follower control schemes are needed. To design these controller schemes three degrees-of-freedom (DOF) of surge, sway, and yaw are assumed in the planar motion of the surface vessels. Further, each vessel only is equipped with two actuators; therefore, the vessels are underactuated and due to the lack of a kinematic constraint, surface vessels are holonomic systems. Further, it is shown that the internal dynamics of this underactuated system is stable, i.e., the follower vehicle does not oscillate about its control point during the formation maneuvers. As the yaw-angle of the underactuated vessel is not directly controlled this oscillatory motion might occur. During operation the proposed formation controller relies only on the inertial information obtained from the immediate neighbors of the vessel and the vessel itself. Simulations and outdoor field experiments have illustrated the effectiveness and robustness of these control laws in the presence of parameter uncertainty and environmental disturbances. The experiments were performed on a large lake in British Columbia, Canada using a small test vessel.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Experiments with a robust formation controller for underactuated autonomous surface vessels


    Beteiligte:
    Schoerling, D. (Autor:in) / Kleeck, C. Van (Autor:in) / Fahimi, F. (Autor:in) / Koch, R. (Autor:in) / Ams, A. (Autor:in) / Löber, P. (Autor:in)


    Erscheinungsdatum :

    2009


    Format / Umfang :

    6 Seiten, 8 Bilder, 1 Tabelle, 9 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





    Formation control of multiple underactuated surface vessels

    Dong, W. / Farrell, J.A. | Tema Archiv | 2008


    Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels

    Serrano, Mario Emanuel / Scaglia, Gustavo Juan Eduardo / Mut, Vicente Antonio et al. | BASE

    Freier Zugriff


    Experimental test of a robust formation controller for marine unmanned surface vessels

    Schoerling, D. / Ams, A. / Löber, P. | British Library Online Contents | 2010