Abstract
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 language | English |
|---|---|
| Title of host publication | OCEANS 2007 - Europe |
| Publication status | Published - 2007 |
| Event | OCEANS 2007 - Europe - Aberdeen, Scotland, United Kingdom Duration: Jun 18 2007 → Jun 21 2007 |
Other
| Other | OCEANS 2007 - Europe |
|---|---|
| Country | United Kingdom |
| City | Aberdeen, Scotland |
| Period | 6/18/07 → 6/21/07 |
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Keywords
- 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
Cite this
Nonlinear formation control of a group of underactuated ships. / Ghommem, J.; Mnif, F.; Poisson, G.; Derbel, N.
OCEANS 2007 - Europe. 2007. 4302258.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Nonlinear formation control of a group of underactuated ships
AU - Ghommem, J.
AU - Mnif, F.
AU - Poisson, G.
AU - Derbel, N.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
KW - Backstepping technique
KW - Coordinated motion control
KW - Lyapunov direct method
KW - Path following
KW - Underactuated ship
UR - http://www.scopus.com/inward/record.url?scp=36349017689&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36349017689&partnerID=8YFLogxK
M3 - Conference contribution
SN - 1424406358
SN - 9781424406357
BT - OCEANS 2007 - Europe
ER -