NDLI: Nonlinear formation control of marine craft

Content Provider	IEEE Xplore Digital Library
Author	Skjetne, R. Moi, S. Fossen, T.I.
Copyright Year	2002
Description	Author affiliation: Dept. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway (Skjetne, R.; Moi, S.; Fossen, T.I.)
Abstract	This paper investigates formation control of a fleet of ships. The control objective for each ship is to maintain its position in the formation while a (virtual) Formation Reference Point (FRP) tracks a predefined path. This is obtained by using vectorial backstepping to solve two subproblems; a geometric task, and a dynamic task. The former guarantees that the FRP, and thus the formation, tracks the path, while the latter ensures accurate speed control along the path. A dynamic guidance system with feedback from the states of all ships ensures that all ships have the same priority (no leader) when moving along the path. Lyapunov stability is proven and robustness to input saturation is demonstrated using computer simulations.
Sponsorship	IEEE Control Syst. Soc
Starting Page	1699
Ending Page	1704
File Size	437100
Page Count	6
File Format	PDF
ISBN	0780375165
ISSN	01912216
DOI	10.1109/CDC.2002.1184765
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-12-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Marine vehicles Fiber reinforced plastics Trajectory Backstepping Mobile robots State feedback Vehicle dynamics Satellites Cost function Algorithm design and analysis
Content Type	Text
Resource Type	Article

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