NDLI: Cross-track formation control of underactuated surface vessels

Content Provider	IEEE Xplore Digital Library
Author	Borhaug, E. Pavlov, A. Pettersen, K.Y.
Copyright Year	2006
Description	Author affiliation: Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol. (Borhaug, E.; Pavlov, A.; Pettersen, K.Y.)
Abstract	The problem of cross-track formation control for underactuated 3-degrees-of-freedom (3-DOF) surface vessels is considered. The proposed decentralized controllers make the vessels asymptotically constitute a desired formation that follows a given straight-line path with a given forward speed profile. The proposed controllers consist of two blocks. The first block, which is based on a line of sight (LOS) guidance law, makes every vessel asymptotically follow straight line paths corresponding to the desired formation motion. The second block manipulates the forward speed of every vessel in such a way that they asymptotically converge to the desired formation and move with a desired forward speed profile. The results are illustrated with simulations
Starting Page	5955
Ending Page	5961
File Size	8693316
Page Count	7
File Format	PDF
ISBN	1424401712
DOI	10.1109/CDC.2006.377687
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-13
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Sea surface Vehicle dynamics Communication system control Underwater vehicles Automatic control Marine vehicles Mobile robots USA Councils Mobile communication
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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