DocumentCode :
3572241
Title :
Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices
Author :
Chen Yuchan ; Ma Baoli
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China
fYear :
2014
Firstpage :
279
Lastpage :
284
Abstract :
In this work, we investigate the full state formation control problem of multiple underactuated surface ships with non-diagonal inertia and damping matrices. By combining the input/state transformations and the nonlinear time-varying tools, a formation controller is derived guaranteeing that the position and orientation states of all the ships globally asymptotically converge to the desired stationary geometric formation pattern under the scenarios of fixed communication graph with a spanning tree, and the velocities of ships tend to zero. Simulation examples are given to illustrate the effectiveness of the proposed control scheme.
Keywords :
asymptotic stability; matrix algebra; nonlinear control systems; position control; ships; time-varying systems; trees (mathematics); damping matrices; fixed communication graph; formation controller; global asymptotic full state formation control; multiple underactuated surface ships; nondiagonal inertia matrices; nonlinear time-varying tools; orientation states; position states; spanning tree; state transformations; stationary geometric formation pattern; Damping; Equations; Marine vehicles; Mathematical model; Shape; Symmetric matrices; Trajectory; Formation control; Multiple underactuated surface ships; Non-diagonal inertia and damping matrices;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
Type :
conf
DOI :
10.1109/WCICA.2014.7052727
Filename :
7052727
Link To Document :
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