Lyapunov 재설계 방법을 이용한 무인 수상정의 군집 제어

In this paper, a practical controller for a group of USVs is proposed in order to avoid matrix inversion problems in computation. Using nonlinear mapping, a formation composed of nonholonomic agents can be stabilized even when the formation is stationary. Since there is no matrix inversion in comput...

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Bibliographic Details
Published inHan-guk haeyang gonghak hoeji (Online) Vol. 28; no. 4; pp. 363 - 369
Main Authors 우상범(Sangbum Woo), 이재용(Jaeyong Lee)
Format Journal Article
LanguageKorean
Published 한국해양공학회 2014
Subjects
해양공학
군집 제어
Formation control
Lyapunov redesign 리아프노프 재설계
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ISSN1225-0767
2287-6715

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Summary:In this paper, a practical controller for a group of USVs is proposed in order to avoid matrix inversion problems in computation. Using nonlinear mapping, a formation composed of nonholonomic agents can be stabilized even when the formation is stationary. Since there is no matrix inversion in computing the control law, the computation complexity can be resolved. A controller for stabilizing the formation errors in the presence of model uncertainty is considered using the Lyapunov redesign method. The asymptotic stability of the formation errors is shown. It is also shown that the proposed controller can be applied to guide a formation to a different shape without modification.
Bibliography:KISTI1.1003/JNL.JAKO201426059105544
G704-000698.2014.28.4.002
ISSN:1225-0767
2287-6715