Formation control of multiple marine vehicles based passivity-control design

Jawhar Ghommam; Faïçal Mnif; Oscar Calvo

doi:10.1109/SSD.2009.4956697

Formation control of multiple marine vehicles based passivity-control design

Jawhar Ghommam^*, Faïçal Mnif, Oscar Calvo

^*Corresponding author for this work

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

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	https://doi.org/10.1109/SSD.2009.4956697
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

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

Access to Document

10.1109/SSD.2009.4956697

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Cite this

Ghommam, J, Mnif, F & Calvo, O 2009, Formation control of multiple marine vehicles based passivity-control design. in 2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009., 4956697, 2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009, Djerba, Taiwan, Province of China, 3/23/09. https://doi.org/10.1109/SSD.2009.4956697

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