DocumentCode :
2647632
Title :
Coordinated path-following and attitude control for multiple surface vessels via curve extension method
Author :
Chen, Yang-Yang ; Tian, Yu-Ping
Author_Institution :
Sch. of Autom., Southeast Univ., Nanjing, China
fYear :
2012
fDate :
23-25 May 2012
Firstpage :
139
Lastpage :
144
Abstract :
This paper addresses the problem of coordinated path-following and attitude control design for a group of fully actuated surface vessels on given convex loops. By incorporating the curve extension design with the consensus-based design we propose a solution to the formation and attitude coordination control. It removes the assumption of nonzero total speed of each vessel that is presented in the literature. With the help of invariance-like theorem and the extension of Barbalat´s lemma, it is proved that the designed cooperative control system is asymptotically stable if the bidirectional commutation topology is connected. An simulation example is presented as a proof of concept.
Keywords :
asymptotic stability; attitude control; control system synthesis; cooperative systems; invariance; path planning; topology; Barbalat lemma; attitude coordination control; bidirectional commutation topology; convex loops; cooperative control system design; coordinated path-following control; curve extension design; formation coordination control; fully actuated surface vessels; invariance-like theorem; multiple surface vessels; proof of concept; vessel speed; Attitude control; Closed loop systems; Orbits; Sea surface; Surges; Topology; Vectors; Attitude coordination; Back-stepping; Coordinated path-following; Curve extension; Fully actuated surface vessels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Decision Conference (CCDC), 2012 24th Chinese
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4577-2073-4
Type :
conf
DOI :
10.1109/CCDC.2012.6242926
Filename :
6242926
Link To Document :
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