Nonlinear formation control of a group of underactuated ships

J. Ghommem*, F. Mnif, G. Poisson, N. Derbel

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Citations (Scopus)


This paper addresses a nonlinear formation control of a group of underactuated ship at a dynamic level of planar formation control, while holding a desired inter-ship formation pattern. In particular we propose a combination of the virtual structure and the path following approaches to derive the formation architecture. Ship coordination is achieved by adjusting the speed of each of the ships along its path, in the sense that the derivative of the path is left as a free input to synchronize the ships motion. The proposed controller is basically based on Lyapunov direct method and backstepping technique. Simulations illustrate the efficacy of the proposed approach.

Original languageEnglish
Title of host publicationOCEANS 2007 - Europe
PublisherIEEE Computer Society
ISBN (Print)1424406358, 9781424406357
Publication statusPublished - 2007
Externally publishedYes
EventOCEANS 2007 - Europe - Aberdeen, Scotland, United Kingdom
Duration: Jun 18 2007Jun 21 2007

Publication series

NameOCEANS 2007 - Europe


OtherOCEANS 2007 - Europe
Country/TerritoryUnited Kingdom
CityAberdeen, Scotland


  • Backstepping technique
  • Coordinated motion control
  • Lyapunov direct method
  • Path following
  • Underactuated ship

ASJC Scopus subject areas

  • Computer Science Applications
  • Oceanography
  • Ocean Engineering
  • Modelling and Simulation


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