Formation control of multiple marine vehicles with velocity reference estimation-based passivity-control design

Jawhar Ghommam, Faïçal Mnif, Oscar Calvo

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

This paper addresses the problem of coordination path following control of multiple autonomous vehicles. Stated briefly, the problem consists of steering a group of vehicles along a specified path, 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 synchronisation algorithm 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. We further assume the unavailability of the reference velocity to each vehicle; we consider the situation where this information is only available to a leader of this formation. Distributed observers are designed for the follower vehicles, under the assumption that the velocity of the leader cannot be measured in real time. Simulations results are presented and discussed.

Original languageEnglish
Pages (from-to)97-107
Number of pages11
JournalInternational Journal of Modelling, Identification and Control
Volume15
Issue number2
DOIs
Publication statusPublished - Jan 2012

Fingerprint

Formation Control
Path Following
Passivity
Control Design
Path
Autonomous Vehicles
Pattern Formation
Ship
Observer
Synchronization
Topology
Subset
Zero
Simulation
Ships

Keywords

  • Cooperative control
  • Marine vehicle
  • Non-linear observer
  • Passivity theory
  • Path following
  • Serret-Frenet

ASJC Scopus subject areas

  • Modelling and Simulation
  • Computer Science Applications
  • Applied Mathematics

Cite this

Formation control of multiple marine vehicles with velocity reference estimation-based passivity-control design. / Ghommam, Jawhar; Mnif, Faïçal; Calvo, Oscar.

In: International Journal of Modelling, Identification and Control, Vol. 15, No. 2, 01.2012, p. 97-107.

Research output: Contribution to journalArticle

@article{57c86a3bd8494a3aa72c1e74ac68f458,
title = "Formation control of multiple marine vehicles with velocity reference estimation-based passivity-control design",
abstract = "This paper addresses the problem of coordination path following control of multiple autonomous vehicles. Stated briefly, the problem consists of steering a group of vehicles along a specified path, 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 synchronisation algorithm 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. We further assume the unavailability of the reference velocity to each vehicle; we consider the situation where this information is only available to a leader of this formation. Distributed observers are designed for the follower vehicles, under the assumption that the velocity of the leader cannot be measured in real time. Simulations results are presented and discussed.",
keywords = "Cooperative control, Marine vehicle, Non-linear observer, Passivity theory, Path following, Serret-Frenet",
author = "Jawhar Ghommam and Fa{\"i}{\cc}al Mnif and Oscar Calvo",
year = "2012",
month = "1",
doi = "10.1504/IJMIC.2012.045215",
language = "English",
volume = "15",
pages = "97--107",
journal = "International Journal of Modelling, Identification and Control",
issn = "1746-6172",
publisher = "Inderscience Enterprises Ltd",
number = "2",

}

TY - JOUR

T1 - Formation control of multiple marine vehicles with velocity reference estimation-based passivity-control design

AU - Ghommam, Jawhar

AU - Mnif, Faïçal

AU - Calvo, Oscar

PY - 2012/1

Y1 - 2012/1

N2 - This paper addresses the problem of coordination path following control of multiple autonomous vehicles. Stated briefly, the problem consists of steering a group of vehicles along a specified path, 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 synchronisation algorithm 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. We further assume the unavailability of the reference velocity to each vehicle; we consider the situation where this information is only available to a leader of this formation. Distributed observers are designed for the follower vehicles, under the assumption that the velocity of the leader cannot be measured in real time. Simulations results are presented and discussed.

AB - This paper addresses the problem of coordination path following control of multiple autonomous vehicles. Stated briefly, the problem consists of steering a group of vehicles along a specified path, 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 synchronisation algorithm 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. We further assume the unavailability of the reference velocity to each vehicle; we consider the situation where this information is only available to a leader of this formation. Distributed observers are designed for the follower vehicles, under the assumption that the velocity of the leader cannot be measured in real time. Simulations results are presented and discussed.

KW - Cooperative control

KW - Marine vehicle

KW - Non-linear observer

KW - Passivity theory

KW - Path following

KW - Serret-Frenet

UR - http://www.scopus.com/inward/record.url?scp=84857248330&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84857248330&partnerID=8YFLogxK

U2 - 10.1504/IJMIC.2012.045215

DO - 10.1504/IJMIC.2012.045215

M3 - Article

AN - SCOPUS:84857248330

VL - 15

SP - 97

EP - 107

JO - International Journal of Modelling, Identification and Control

JF - International Journal of Modelling, Identification and Control

SN - 1746-6172

IS - 2

ER -