Formation control of underactuated autonomous surface vessels using redundant manipulator analogs

Bishop, B.E.

doi:10.1109/icra.2012.6224865

Cited by 5 publications

(4 citation statements)

References 19 publications

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“…In this research work, 3 underwater vehicles which their basic dynamic parameters were adopted from [9], are under control to converge to the desired pattern. The communication digraph is assumed to be fixed.…”

Section: Simulation Resultsmentioning

confidence: 99%

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Control of Multiple Underwater Vessels to Converge to a Desired Pattern

Salarieh

Ghassemzadeh

2018

ijmt

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The important and hazardous of the rescue mission in oceans and seas, autonomous vessels now are one of the most appropriate applications among others. Due to safety, reliability, and accessibility of smart, Autonomous and Cooperative vessels today has attracted much attention from the industry. Regard to the complication of the mono vessel for different objects, the multiagent system was proposed by the researchers. A group of vessels which are connected to each other through different communication systems like GPS, INS and etc., could easily act their duties in the different situations. Design a strategy controller for a group of underwater vessels with the aid of Lyapanove and Graph theory is addressed in this brief. Realistic dynamics is considered in this paper which is novel things in the fields of control system design to demonstrate the performances of the designed controller. Using realistic dynamics makes it possible to really analyze the behavior of the system and consider all the problems which the systems might be faced in reality. The main features of the proposed controller are the decentralized and scalable controller which convert the controller to be applicable to the different number of agents also in the different situation without any external monitoring and this is while all the previous work were based on the external Control. Due to the realistic agent dynamics, non-holonomic dynamics and turning constraints of the vessels are considered in the design process. Advantages of the proposed controller could be represented as follow: domestic information is used between vessels. Based on the realistic dynamics of motion, damping and inertia matrix which in previous works used to be diagonal and constant, are considered as non-diagonal and variable. Also to represent the effectiveness of the proposed controllers, MATLAB and SIMULINK are used to simulate the effectiveness of the controller. As the simulation results show, designed controllers perform well on the system and the objective duty is achieved appropriately.

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Section: Simulation Resultsmentioning

confidence: 99%

“…Surge propulsive force is delivered by a propeller and a rudder provides torque capable of affecting yaw. Dynamics model of each vessel can be given in equation 1 to equation 7 appropriately [9] and dynamics equations for the i'th vessels can be written as: …”

Section: Dynamics Modelmentioning

confidence: 99%

Control of Multiple Underwater Vessels to Converge to a Desired Pattern

Salarieh

Ghassemzadeh

2018

ijmt

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“…as shown in Figure 30, where a is the radius of the is the radius along the y-axis. [13] ellipse. An This is again done using artificial potential fields.…”

Section: A Circlementioning

confidence: 99%

Reactive Swarm Formation Control Using Realistic Surface Vessel Dynamics and Environmental Effects

Gerbino¹

2012

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“…The main difference within these approaches consists in how behaviours are merged together. For this purpose, some techniques originally developed for manipulators, e.g., the Null Space Based Inverse Kinematics (NSB-IK), have been applied to fleets in [5][6][7][8][9][10][11][12][13] to explore redundancy (i.e., accomplish the greatest possible number of tasks) while managing the possible conflicts between prioritized tasks. Differently from other strategies, such as the motor schema control [3] or the layered control system [2], in fact, NSB-IK controllers ensure the correct task hierarchy by construction while, before being executed, each task is projected in the null space of its higher priority ones.…”

Section: Introductionmentioning

confidence: 99%

On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation

2021

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Multi-robot fleets play an important role in industrial logistics, surveillance, and exploration applications. A wide literature exists on the topic, both resorting to reactive (i.e. collision avoidance) and to deliberative (i.e. motion planning) techniques. In this work, Null Space Based Inverse Kinematics (NSB-IK) methods are applied to the problem of fleet management. Several NSB-IK approaches existing in the literature are reviewed and compared with a Reverse Priority approach, which originated in manipulator control and is here applied for the first time to the considered problem. All NSB-IK approaches are here described in a unified formalism, which allows: (i) to encode the property of each controller into a set of seven main key features, (ii) to study possible new control laws with an opportune choice of these parameters. Furthermore, motivated by the envisioned application scenario, we tackle the problem of task switching activation. Leveraging on the iCAT TPC technique [1], we propose a method to obtain continuity in the control in face of activation or deactivation of tasks and subtasks by defining suitable damped projection operators. The proposed approaches are evaluated formally and via simulations. Performances with respect to standard methods are compared considering a specific case study for multi-vehicles management.

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Formation control of underactuated autonomous surface vessels using redundant manipulator analogs

Cited by 5 publications

References 19 publications

Control of Multiple Underwater Vessels to Converge to a Desired Pattern

Control of Multiple Underwater Vessels to Converge to a Desired Pattern

Reactive Swarm Formation Control Using Realistic Surface Vessel Dynamics and Environmental Effects

On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation

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