TY - GEN
T1 - Robust adaptive formation control of fully actuated marine vessels using local potential functions
AU - Ghommam, Jawhar
AU - Saad, Maarouf
AU - Mnif, Faiçal
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77955794015&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2010.5509256
DO - 10.1109/ROBOT.2010.5509256
M3 - Conference contribution
AN - SCOPUS:77955794015
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3001
EP - 3007
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -