Robust adaptive formation control of fully actuated marine vessels using local potential functions

Jawhar Ghommam, Maarouf Saad, Faiçal Mnif

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

5 Citations (Scopus)

Abstract

We study the problem of formation control and trajectory tracking for a group of fully actuated marine vehicles, in the presence of uncertainties and unknown disturbances. The objective is to achieve and maintain desired formation tracking, and guarantee no collision between the marine vehicles. The control development relies on existing potential functions which fall at a minimum value when the vehicles reach the desired formation, and blow up to infinity when the vehicles approach collision. The combination of the potential functions, backstepping and variable structure based design technique allows us to handle time varying disturbances by ensuring a stable formation. Using the sliding-Backstepping technique and Lyapunov synthesis, a stable coordination tracking controller is designed. Uniform boundedness of the closed loop signals system is achieved.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages3001-3007
Number of pages7
DOIs
Publication statusPublished - 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

Fingerprint

Backstepping
Signal systems
Trajectories
Controllers
Uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Ghommam, J., Saad, M., & Mnif, F. (2010). Robust adaptive formation control of fully actuated marine vessels using local potential functions. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 3001-3007). [5509256] https://doi.org/10.1109/ROBOT.2010.5509256

Robust adaptive formation control of fully actuated marine vessels using local potential functions. / Ghommam, Jawhar; Saad, Maarouf; Mnif, Faiçal.

2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 3001-3007 5509256.

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

Ghommam, J, Saad, M & Mnif, F 2010, Robust adaptive formation control of fully actuated marine vessels using local potential functions. in 2010 IEEE International Conference on Robotics and Automation, ICRA 2010., 5509256, pp. 3001-3007, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 5/3/10. https://doi.org/10.1109/ROBOT.2010.5509256
Ghommam J, Saad M, Mnif F. Robust adaptive formation control of fully actuated marine vessels using local potential functions. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 3001-3007. 5509256 https://doi.org/10.1109/ROBOT.2010.5509256
Ghommam, Jawhar ; Saad, Maarouf ; Mnif, Faiçal. / Robust adaptive formation control of fully actuated marine vessels using local potential functions. 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. pp. 3001-3007
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