Non-linear model predictive formation control for groups of autonomous surface vessels

Fahimi, Farbod

doi:10.1080/00207170701280911

Cited by 55 publications

(28 citation statements)

References 19 publications

(16 reference statements)

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“…In formation control, a group of cooperative vehicles must keep some user-defined distanced to each other while performing a maneuver. The approaches of formation control can be roughly categorized under either behavior-based (Balch and Arkin 1998;Duman and Hu 2001), virtual structures (Lewis and Tan 1997), or leader-follower approaches (Fahimi 2007a(Fahimi , 2007bSugar and Kumar 1998;Desai 2002;Fahimi et al 2008). In the leader-follower approach, a follower is designated to track the position and orientation of a leader with some prescribed offset.…”

Section: Introductionmentioning

confidence: 98%

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

et al. 2009

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Experiments with two formation controllers for marine unmanned surface vessels are reported. The formation controllers are designed using the nonlinear robust model-based sliding mode approach. The marine vehicles can operate in arbitrary formation configurations by using two leader-follower control schemes. For the design of these controller schemes 3 degrees of freedom (DOFs) of surge, sway, and yaw are assumed in the planar motion of the marine surface vessels. Each vessel only has two actuators; therefore, the vessels are underactuated and the lack of a kinematic constraint puts them into the holonomic system category. In this work, the position of a control point on the vessel is controlled, and the orientation dynamics is not directly controlled. Therefore, there is a potential for an oscillatory yaw motion to occur. It is shown that the orientation dynamics, as 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. The proposed formation controller relies only on the state information obtained from the immediate neighbors of the vessel and the vessel itself. The effectiveness and robustness of formation control laws in the presence of parameter uncertainty and environmental disturbances are demonstrated by using both simulations and field experiments. The experiments were performed in a natural environment on a lake using a small test boat, and show robust performance to parameter uncertainty and disturbance.the first experimental verification of the above mentioned approach, whose unique features are the use of a control point, the zero-dynamic stability analysis, the use of leaderfollower method and a nonlinear robust control approach.

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Section: Introductionmentioning

confidence: 98%

“…The concept of a control point for controlling underactuated speed boats with two independent thrusters was first introduced in Fahimi (2007a) and then used in Fahimi (2007b). In the control point approach, the controller aims to control the position of a control point instead of the position of the center of gravity.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2009

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“…Formation control of multiple vehicles that form a floating runway at sea has been also proposed [13], and the virtual structure approach has been used to control a fleet of vessels [14]. The leader-follower method was also applied to control groups of autonomous surface vessels [15] and wheeled robots [16].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation

Mas

Kitts

2014

IEEE Access

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The formation control technique called cluster space control promotes simplified specification and monitoring of the motion of mobile multirobot systems of limited size. Previous paper has established the conceptual foundation of this approach and has experimentally verified and validated its use for various systems implementing kinematic controllers. In this paper, we briefly review the definition of the cluster space framework and introduce a new cluster space dynamic model. This model represents the dynamics of the formation as a whole as a function of the dynamics of the member robots. Given this model, generalized cluster space forces can be applied to the formation, and a Jacobian transpose controller can be implemented to transform cluster space compensation forces into robot-level forces to be applied to the robots in the formation. Then, a nonlinear model-based partition controller is proposed. This controller cancels out the formation dynamics and effectively decouples the cluster space variables. Computer simulations and experimental results using three autonomous surface vessels and four land rovers show the effectiveness of the approach. Finally, sensitivity to errors in the estimation of cluster model parameters is analyzed. INDEX TERMSCluster space, multirobot systems, dynamic control, formation control, marine robotics.

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“…Lee The research into control of marine surface vessels can be grouped by topic into maneuvering [1,2], dynamic positioning [3,4], tracking (including path following or way-point tracking) [7,9], and formation control [5]. In [6], Skjetne et al identified the model of a three degree-of-freedom (DOF) marine vessel, Cybership II, and designed an adaptive maneuvering controller when the inertia matrix was symmetric and positive-definite.…”

Section: Introductionmentioning

confidence: 99%

Adaptive output tracking control of a surface vessel

Lee

Tatlıcıoğlu

Burg

et al. 2008

2008 47th IEEE Conference on Decision and Control

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Abstract-In this paper, the tracking control of a three degree-of-freedom marine vessel is examined. The novelty of this work is the transformation of the asymmetric inertia matrix into a symmetric, positive definite matrix. The asymmetry arises from the added mass common to practical surface vessels and creates a significant challenge for control design. The control design is further complicated by the parametric uncertainties in the dynamic model of the vessel. Two adaptive control schemes with a projection-based adaptation law are proposed: a full-state feedback controller and an output feedback controller. Both controllers are known to yield a uniformly ultimately bounded tracking result in the presence of parametric uncertainty. Numerical simulation results are shown to demonstrate the validity of the proposed controllers.

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Non-linear model predictive formation control for groups of autonomous surface vessels

Cited by 55 publications

References 19 publications

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

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

Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation

Adaptive output tracking control of a surface vessel

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