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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Formation control of multiple underactuated surface vessels


    Contributors:
    Dong, W. (author) / Farrell, J.A. (author)

    Published in:

    Publication date :

    2008


    Size :

    9 Seiten, 26 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





    Experiments with a robust formation controller for underactuated autonomous surface vessels

    Schoerling, D. / Kleeck, C. Van / Fahimi, F. et al. | Tema Archive | 2009


    RBFNN-Based Path Following Adaptive Control for Underactuated Surface Vessels

    Meng, Wei / Guo, Chen | British Library Conference Proceedings | 2015



    LVS guidance based output-feedback path-following control for underactuated surface vessels

    Chen, Zheng / Min, Boxu / Xie, Hongbin et al. | British Library Conference Proceedings | 2021