Formation control of multiple marine vehicles based passivity-control design

Jawhar Ghommam, Faïçal Mnif, Oscar Calvo

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009
DOIs
Publication statusPublished - 2009
Event2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009 - Djerba, Taiwan, Province of China
Duration: Mar 23 2009Mar 26 2009

Other

Other2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009
CountryTaiwan, Province of China
CityDjerba
Period3/23/093/26/09

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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

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