Formation control of multiple vehicles using dynamic surface control and hybrid systems

This paper deals with the formation control of multiple vehicles, using a combination of dynamic surface sliding control and hybrid systems. Each vehicle must perform several manoeuvres, either independently, or in a coordinated fashion as part of a vehicle formation. A dynamic surface controller is designed for each manoeuvre. Switches between manoeuvres and communication protocols between vehicles are represented using hybrid systems formalisms. Here, we present the design of both independent and coordinated dynamic positioning (DP) controllers for ocean vehicles using dynamic surface control. Independent and coordinated dynamic positioning are manoeuvres that the modules forming a floating runway at sea must perform. Experimental results using scaled modules are shown.