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 |
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| 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/Territory | 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