Cross-track formation control of underactuated surface vessels

Børhaug, E.; Павлов, А. В.; Pettersen, Kristin Y.

doi:10.1109/cdc.2006.377687

Cited by 38 publications

(29 citation statements)

References 9 publications

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“…Using the results of [37][38], we present the following theorem which considers the achievement of the desired formation. Theorem 3.…”

Section: Formation Controlmentioning

confidence: 99%

“…This implies that Γ has one zero eigenvalue, for which v 1 denotes the corresponding eigenvector [38]. For some constant c ∈ R, the formation control objective for the system (54) can be given aŝ…”

Section: Formation Controlmentioning

confidence: 99%

“…In order to make p y → 0, and thereby achieve control objective III we consider the dynamics of the position of the CM given bẏ p y = v t sin(θ) + v n cos(θ) (38) which in the error coordinates can be written aṡ…”

Section: Maneuvering Control: the Geometric Taskmentioning

confidence: 99%

“…To solve the formation control problem, each snake should adjust its speed to asymptotically converge to the desired geometric formation and move according to the desired velocity profile v d ∈ R >0 . Thus, by adapting the results of [37][38] to our proposed maneuvering controller, we define the following formation control law defined through the reference velocity of each snake v j t,ref :…”

Section: Formation Controlmentioning

confidence: 99%

“…To this end, for each snake robot we use the proposed cross-track controller for which we showed that the control objectives I-IV will be achieved. Furthermore, following the formation control strategy in [38] we use the desired velocity of each robot as the control term for synchronizing the motion of the robots along the desired paths. Since in this section we are dealing with multiple snake robots, we will use the superscript j ∈ {1, ..., n} to denote the robot's number.…”

Section: Formation Controlmentioning

confidence: 99%

See 4 more Smart Citations

Formation control of underactuated bio-inspired snake robots

Rezapour¹,

Pettersen

Gravdahl

et al. 2016

Artif Life Robotics

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This paper considers formation control of snake robots. In particular, based on a simplified locomotion model, and using the method of virtual holonomic constraints, we control the body shape of the robot to a desired gait pattern defined by some prespecified constraint functions. These functions are dynamic in that they depend on the state variables of two compensators which are used to control the orientation and planar position of the robot, making this a dynamic maneuvering control strategy. Furthermore, using a formation control strategy we make the multiagent system converge to and keep a desired geometric formation, and enforce the formation follow a desired straight line path with a given speed profile. Specifically, we use the proposed maneuvering controller to solve the formation control problem for a group of snake robots by synchronizing the commanded velocities of the robots. Simulation results are presented which illustrate the successful performance of the theoretical approach.

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“…Using the results of [37][38], we present the following theorem which considers the achievement of the desired formation. Theorem 3.…”

Section: Formation Controlmentioning

confidence: 99%

Section: Formation Controlmentioning

confidence: 99%

Section: Maneuvering Control: the Geometric Taskmentioning

confidence: 99%

Section: Formation Controlmentioning

confidence: 99%

Section: Formation Controlmentioning

confidence: 99%

See 3 more Smart Citations

Formation control of underactuated bio-inspired snake robots

Rezapour¹,

Pettersen

Gravdahl

et al. 2016

Artif Life Robotics

Self Cite

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Globally Stable Adaptive Dynamic Surface Control for Cooperative Path Following of Multiple Underactuated Autonomous Underwater Vehicles

Wang¹,

Liu

2017

Asian Journal of Control

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The cooperative path following problem of multiple underactuated autonomous underwater vehicles (AUVs) involves two tasks. The first one is to force each AUV to converge to the desired parameterized path. The second one is to satisfy the requirement of a cooperative behavior along the paths. In this paper, both of the tasks have been further studied. For the first one, a simplified path following controller is proposed by incorporating the dynamic surface control (DSC) technique to avoid the calculation of derivatives of virtual control signals. Besides, in order to handle the uncertain dynamics, a new type of neural network (NN) adaptive controller is derived, and then an NN based energy-efficient path following controller is firstly proposed, which consists of an adaptive neural controller dominating in the neural active region and an extra robust controller working outside the neural active region. For the second one, in order to reduce the amount of communications between multiple AUVs, a distributed estimator for the reference common speed is firstly proposed as determined by the communications topology adopted, which means the global knowledge of the reference speed is relaxed for the problem of cooperative path following. The overall algorithm ensures that all the signals in the closed-loop system are globally uniformly ultimately bounded (GUUB) and the output of the system converges to a small neighborhood of the reference trajectory by properly choosing the design parameters. Simulation results validate the performance and robustness of the proposed strategy.

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Control of Underactuated Marine Vehicles

Ellenrieder

Dietrich²

2021

Control of Marine Vehicles

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Cross-track formation control of underactuated surface vessels

Cited by 38 publications

References 9 publications

Formation control of underactuated bio-inspired snake robots

Formation control of underactuated bio-inspired snake robots

Globally Stable Adaptive Dynamic Surface Control for Cooperative Path Following of Multiple Underactuated Autonomous Underwater Vehicles

Control of Underactuated Marine Vehicles

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