Earticle

초록

영어

This paper considers the cooperative control of a group of autonomous underactuated vessels (AUV). The control objective for each vessel is to maintain its position in the formation while Formation Reference Point (FRP) tracks a predefined spatial path. In order to achieve this goal, we use vectorial backstepping to solve two subproblems: one is geometric task, anther is dynamic task. The former guarantees that the FRP tracks the spatial path, while the later ensures accurate speed control along the path. A dynamic guidance system with feedback from the state of all AUV ensures that they have the same priority (no leader) when moving along the path. The controller is proposed basically based on Lyapunov direct method and backstepping technique. Simulation results are presented and discussed.

목차

Abstract
 1. Introduction
 2. Problem Statement
 3. Cooperative Control Law Design
 4. Simulations
 5. Conclusion
 Acknowledgements
 References

키워드

저자

• Zhang Guang-lei [ Information and Computer Engineering College, Northeast Forestry University, Harbin, 150040, China ]
• Qi hong [ Information and Computer Engineering College, Northeast Forestry University, Harbin, 150040, China ] Corresponding author

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605