Abstract
This paper addresses the problem of coordination path following control of multiple autonomous vehicles. Stated briefly, the problem consists in steering a group of vehicles along a specified paths, while holding a desired inter-ship formation pattern. Path-following for each vehicle amounts to reducing an appropriately defined geometric error to zero. We first show a passivity property for the path following system and, next, combine this with a passivity-based synchronization algorithm developed in [2] to coordinate the vehicles along their paths. Vehicle coordination is achieved by adjusting the speed of each vehicle along its path according to information exchanged on the positions of a subset of the other vehicles, as determined by the communication topology adopted. Global stability and convergence of the closed-loop system are guaranteed.
| Original language | English |
|---|---|
| Title of host publication | 2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009 |
| DOIs | |
| Publication status | Published - 2009 |
| Event | 2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009 - Djerba, Taiwan, Province of China Duration: Mar 23 2009 → Mar 26 2009 |
Other
| Other | 2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009 |
|---|---|
| Country | Taiwan, Province of China |
| City | Djerba |
| Period | 3/23/09 → 3/26/09 |
Fingerprint
Keywords
- Cooperative control
- Marine vehicle
- Passivity theory
- Path following
- Serret- frenet
ASJC Scopus subject areas
- Hardware and Architecture
- Signal Processing
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Formation control of multiple marine vehicles based passivity-control design. / Ghommam, Jawhar; Mnif, Faïçal; Calvo, Oscar.
2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009. 2009. 4956697.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Formation control of multiple marine vehicles based passivity-control design
AU - Ghommam, Jawhar
AU - Mnif, Faïçal
AU - Calvo, Oscar
PY - 2009
Y1 - 2009
N2 - This paper addresses the problem of coordination path following control of multiple autonomous vehicles. Stated briefly, the problem consists in steering a group of vehicles along a specified paths, while holding a desired inter-ship formation pattern. Path-following for each vehicle amounts to reducing an appropriately defined geometric error to zero. We first show a passivity property for the path following system and, next, combine this with a passivity-based synchronization algorithm developed in [2] to coordinate the vehicles along their paths. Vehicle coordination is achieved by adjusting the speed of each vehicle along its path according to information exchanged on the positions of a subset of the other vehicles, as determined by the communication topology adopted. Global stability and convergence of the closed-loop system are guaranteed.
AB - This paper addresses the problem of coordination path following control of multiple autonomous vehicles. Stated briefly, the problem consists in steering a group of vehicles along a specified paths, while holding a desired inter-ship formation pattern. Path-following for each vehicle amounts to reducing an appropriately defined geometric error to zero. We first show a passivity property for the path following system and, next, combine this with a passivity-based synchronization algorithm developed in [2] to coordinate the vehicles along their paths. Vehicle coordination is achieved by adjusting the speed of each vehicle along its path according to information exchanged on the positions of a subset of the other vehicles, as determined by the communication topology adopted. Global stability and convergence of the closed-loop system are guaranteed.
KW - Cooperative control
KW - Marine vehicle
KW - Passivity theory
KW - Path following
KW - Serret- frenet
UR - http://www.scopus.com/inward/record.url?scp=67650527009&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=67650527009&partnerID=8YFLogxK
U2 - 10.1109/SSD.2009.4956697
DO - 10.1109/SSD.2009.4956697
M3 - Conference contribution
AN - SCOPUS:67650527009
SN - 9781424443468
BT - 2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009
ER -