Nonlinear formation control of marine craft

This paper investigates formation control of a fleet of ships. The control objective for each ship is to maintain its position in the formation while a (virtual) Formation Reference Point (FRP) tracks a predefined path. This is obtained by using vectorial backstepping to solve two subproblems; a geo...

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Bibliographic Details
Published inProceedings of the 41st IEEE Conference on Decision and Control, 2002 Vol. 2; pp. 1699 - 1704 vol.2
Main Authors Skjetne, R., Moi, S., Fossen, T.I.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2002
Subjects
Algorithm design and analysis
Backstepping
Cost function
Fiber reinforced plastics
Marine vehicles
Mobile robots
Satellites
State feedback
Trajectory
Vehicle dynamics
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ISBN0780375165
9780780375161
ISSN0191-2216
DOI10.1109/CDC.2002.1184765

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Summary:This paper investigates formation control of a fleet of ships. The control objective for each ship is to maintain its position in the formation while a (virtual) Formation Reference Point (FRP) tracks a predefined path. This is obtained by using vectorial backstepping to solve two subproblems; a geometric task, and a dynamic task. The former guarantees that the FRP, and thus the formation, tracks the path, while the latter ensures accurate speed control along the path. A dynamic guidance system with feedback from the states of all ships ensures that all ships have the same priority (no leader) when moving along the path. Lyapunov stability is proven and robustness to input saturation is demonstrated using computer simulations.
ISBN:0780375165
9780780375161
ISSN:0191-2216
DOI:10.1109/CDC.2002.1184765