Nonlinear formation control of marine craft

Skjetne, Roger; Moi, S.; Fossen, Thor I.

doi:10.1109/cdc.2002.1184765

Cited by 146 publications

(112 citation statements)

References 5 publications

Supporting

Mentioning

112

Contrasting

Order By: Relevance

“…In addition to the above mentioned methods, lots of methods have been proposed for the tracking controller of a surface vessel [9][10][11][12][13][14][15][16][17][18], and H. Ashrafiuon have focused on the Sliding Mode Control (SMC) for designing the tracking controller of surface vessels [19].…”

Section: F a Papoulias Employed The Linearized Dynamics Tomentioning

confidence: 99%

Path Tracking Controller Design for Surface Vessel Based on Sliding Mode Control Method with Switching Law

Lee¹

2017

Journal of the Korea Institute of Military Science and Technolo

View full text Add to dashboard Cite

that a surface vessel is a useful and suitable device for environmental surveying, seaside monitoring, military landings, and so on [1][2][3][4][5]. Despite its numerous useful applications, there are several challenging problems in the designing of tracking controller; a highly non-linear system models, stabilization, and under-actuated property, that is a system has smaller number of actuators than ABSTRACTIn this paper, the path tracking controller for a surface vessel based on the sliding mode control (SMC) with the switching law is proposed. In order to have no restriction on movement and improved tracking performance, the proposed control system is developed as follows: First, the kinematic and dynamic models in Cartesian coordinates are considered to solve the singularity problem at the origin. Second, the new multiple sliding surfaces are designed with the SMC and approach angle concept to solve the under-actuated property. Third, the switching control system is designed to improve tracking performance. To prove the stability of the proposed switching system under the arbitrary switching, the Lyapunov stability analysis method with the common Lyapunov function is used. Finally, the computer simulations are performed to demonstrate the performance, effectiveness and stability of the proposed tracking controller of a surface vessel.

show abstract

Section: F a Papoulias Employed The Linearized Dynamics Tomentioning

confidence: 99%

Path Tracking Controller Design for Surface Vessel Based on Sliding Mode Control Method with Switching Law

Lee¹

2017

Journal of the Korea Institute of Military Science and Technolo

View full text Add to dashboard Cite

show abstract

“…8 The cooperative path tracking control approach is proposed by defining the formation reference point (FRP) for each vessel. 9 The cooperative path tracking operation is also achieved through a designed synchronization control law for path parameters by Ihle et al 10,11 A common trait in above results is that the coordination operation is performed by pre-defining respective desire path for each vessel and then designing synchronization control law of these path parameters from all the marine vessels. However, in the case of the task transformation or have an accident, the path for each vessel must be re-planed to guarantee the coordination operation can continue to be executed.…”

Section: Introductionmentioning

confidence: 99%

Robust cooperative path tracking control algorithm for multi-vessel

Jiao

Guang

2016

Advances in Mechanical Engineering

View full text Add to dashboard Cite

The issue of distributed cooperative path tracking control for multi-vessel in the presence of ocean currents has addressed in this article. The proposed cooperative control approach is achieved by designing the guidance system and the control system. In order to achieve the multi-vessel's coordination with the desired spatial formation, the guidance system is designed based on the strategy of virtual leader for supplying the desire path and relevant parameters for each vessel. In addition, a robust cooperative path tracking controller is designed to reject the disturbance of unknown ocean currents using the backstepping method and the adaptive control technology. The synchronization between all the vessels is achieved by defining same path parameter and same speed along the path through the guidance system. Global asymptotic stability is guaranteed by Lyapunov-based technique for the whole control system. The effectiveness of the proposed cooperative path tracking control method is demonstrated by numerical simulation.

show abstract

“…Thus, coordination and formation control of autonomous surface vessel have been subject of research in the last few years [1], [2], [3]. Among other possible methods, in this paper a behavior-based approach to coordinate the fleet is proposed.…”

Section: Introductionmentioning

confidence: 99%

Formation Control of Underactuated Surface Vessels using the Null-Space-Based Behavioral Control

Arrichiello

Chiaverini

Fossen

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Abstract-In this paper the application of a behavior-based control approach, namely the Null-Space-based Behavioral control, to coordinate a fleet of autonomous surface vessels is presented. The NSB can be considered as a centralized guidance system aimed at driving the fleet in complex environments while simultaneously performing multiple tasks, i.e., obstacle avoidance or keeping a formation. In order to apply the guidance system to a fleet of underactuated surface vessels, the NSB works in combination with a low-level maneuvering control that, taking care of the dynamics of the vessels, elaborates the motion commands to generate the generalized forces at the actuators. The guidance system has been simulated in the accomplishment of a mission in presence of obstacles and sea current in the environment.

show abstract

Nonlinear formation control of marine craft

Cited by 146 publications

References 5 publications

Path Tracking Controller Design for Surface Vessel Based on Sliding Mode Control Method with Switching Law

Path Tracking Controller Design for Surface Vessel Based on Sliding Mode Control Method with Switching Law

Robust cooperative path tracking control algorithm for multi-vessel

Formation Control of Underactuated Surface Vessels using the Null-Space-Based Behavioral Control

Contact Info

Product

Resources

About