Coordinated Path-Following Control for a Group of Underactuated Surface Vessels

Ghommam, Jawhar; Mnif, F.

doi:10.1109/tie.2009.2028362

Cited by 135 publications

(63 citation statements)

References 48 publications

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“…Their presented formation strategy is also useful for underactuated surface vessels. The design of path-following formation controllers for underactuated surface vehicles has also Contents lists available at ScienceDirect journal homepage: www.elsevier.com/locate/oceaneng been reported in Borhaug et al (2011) and Ghommam and Mnif (2009). However, a common drawback of many previous formation controllers is that they neglect the problem of the actuators saturation.…”

Section: Background and Related Workmentioning

confidence: 99%

Leader–follower formation control of underactuated autonomous marine surface vehicles with limited torque

Shojaei

2015

Ocean Engineering

145

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Section: Background and Related Workmentioning

confidence: 99%

Leader–follower formation control of underactuated autonomous marine surface vehicles with limited torque

Shojaei

2015

Ocean Engineering

145

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“…c Remark 2. Different from the existing time-varying or discontinuous controllers in the literatures, [19][20][21][22][23][24][25][26][27][28][29] which addressed the leaderless consensus/formation control problem of nonholonomic systems, the distributed controller (equation (11) or (13)) is smooth, timeinvariant, and static. The achievement of this relies heavily on the Lyapunov function V 1 constructed in equation (4).…”

Section: Let Us Definementioning

confidence: 99%

Smooth time-invariant control for leaderless consensus of networked nonholonomic systems

Xie

2017

International Journal of Advanced Robotic Systems

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This article studies the leaderless consensus control problem of multiple nonholonomic chained systems. Two smooth time-invariant static distributed controllers are derived based on Lyapunov method, graph theory, and LaSalle invariance principle. Both of the proposed controllers guarantee that the states of the multiple nonholonomic systems globally asymptotically converge to a common vector, provided that the interconnection topology is undirected and connected. In particular, the second control scheme can reduce the size of the control inputs via saturated control and is more applicable in real engineering. Several numerical simulations are implemented for kinematic models of four nonholonomic unicycle mobile robots, demonstrating the effectiveness of the proposed control schemes.

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“…Compared with straight line path following, the study on the curved path following is more general. In [3,4], coordinated path following controllers are designed by a separation between path-following for each vessel and multiple vessels coordination. In addition, the literature [4] also considered the influences of ocean currents and parametric model uncertainty.…”

Section: Introductionmentioning

confidence: 99%