Coordinated path-following and attitude control for multiple surface vessels via curve extension method

摘要：

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 consensusbased 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.

关键词： Fully actuated surface vessels Coordinated path-following Attitude coordination Curve extension Backstepping

作者: Yang-Yang Chen Yu-Ping Tian

作者单位: School of Automation, Southeast University, Nanjing 210096, China

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 139-144

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）