Straight Line Path Following for Formations of Underactuated Marine Surface Vessels

Børhaug, E.; Павлов, А. В.; Panteley, Elena; Pettersen, Kristin Y.

doi:10.1109/tcst.2010.2050889

Cited by 172 publications

(132 citation statements)

References 15 publications

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“…c Remark 2. Different from the existing time-varying or discontinuous controllers in the literatures, [19][20][21][22][23][24][25][26][27][28][29] which addressed the leaderless consensus/formation control problem of nonholonomic systems, the distributed controller (equation (11) or (13)) is smooth, timeinvariant, and static. The achievement of this relies heavily on the Lyapunov function V 1 constructed in equation (4).…”

Section: Let Us Definementioning

confidence: 99%

Smooth time-invariant control for leaderless consensus of networked nonholonomic systems

Xie

2017

International Journal of Advanced Robotic Systems

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This article studies the leaderless consensus control problem of multiple nonholonomic chained systems. Two smooth time-invariant static distributed controllers are derived based on Lyapunov method, graph theory, and LaSalle invariance principle. Both of the proposed controllers guarantee that the states of the multiple nonholonomic systems globally asymptotically converge to a common vector, provided that the interconnection topology is undirected and connected. In particular, the second control scheme can reduce the size of the control inputs via saturated control and is more applicable in real engineering. Several numerical simulations are implemented for kinematic models of four nonholonomic unicycle mobile robots, demonstrating the effectiveness of the proposed control schemes.

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Section: Let Us Definementioning

confidence: 99%

Smooth time-invariant control for leaderless consensus of networked nonholonomic systems

Xie

2017

International Journal of Advanced Robotic Systems

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“…To solve the formation control problem, each snake should adjust its speed to asymptotically converge to the desired geometric formation and move according to the desired velocity profile v d ∈ R >0 . Thus, by adapting the results of [37][38] to our proposed maneuvering controller, we define the following formation control law defined through the reference velocity of each snake v j t,ref :…”

Section: Formation Controlmentioning

confidence: 99%

“…The function g(x) is a continuously differentiable nondecreasing function with a bounded derivative satisfying g (0) > 0, g(0) = 0 and g(x) ∈ (−a, a), where a was the parameter defined above. Following [36][37], the function g can be chosen, for example, equal to g(x) = (2a/π) atan(x). Inserting (51) into (50), the ve-locity dynamics of the robot takes the form…”

Section: Formation Controlmentioning

confidence: 99%

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Formation control of underactuated bio-inspired snake robots

Rezapour¹,

Pettersen

Gravdahl

et al. 2016

Artif Life Robotics

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This paper considers formation control of snake robots. In particular, based on a simplified locomotion model, and using the method of virtual holonomic constraints, we control the body shape of the robot to a desired gait pattern defined by some prespecified constraint functions. These functions are dynamic in that they depend on the state variables of two compensators which are used to control the orientation and planar position of the robot, making this a dynamic maneuvering control strategy. Furthermore, using a formation control strategy we make the multiagent system converge to and keep a desired geometric formation, and enforce the formation follow a desired straight line path with a given speed profile. Specifically, we use the proposed maneuvering controller to solve the formation control problem for a group of snake robots by synchronizing the commanded velocities of the robots. Simulation results are presented which illustrate the successful performance of the theoretical approach.

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“…For instance, the problem of cooperative path tracking control is discussed based on the nonlinear cascade system theory for multiple underactuated marine vessels. 7 The same problem is discussed based on the Lyapunov direct method. 8 The cooperative path tracking control approach is proposed by defining the formation reference point (FRP) for each vessel.…”

Section: Introductionmentioning

confidence: 99%

Robust cooperative path tracking control algorithm for multi-vessel

Jiao

Guang

2016

Advances in Mechanical Engineering

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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.

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Straight Line Path Following for Formations of Underactuated Marine Surface Vessels

Cited by 172 publications

References 15 publications

Smooth time-invariant control for leaderless consensus of networked nonholonomic systems

Smooth time-invariant control for leaderless consensus of networked nonholonomic systems

Formation control of underactuated bio-inspired snake robots

Robust cooperative path tracking control algorithm for multi-vessel

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