Cooperative control of underactuated surface vessels

This study considers the cooperative control of a group of underactuated surface vessels using the relative information between neighbour´s information such that the group of surface vessels come into a desired geometric pattern whose centroid moves along a desired tajectory. With the aid of results from graph theory and Lyapunov techniques, decentralised cooperative control laws are proposed for different communication scenarios. The effect of communication delays on the proposed controllers is analysed. Simulation results show the effectiveness of the proposed control laws.