Straight line path following for formations of underactuated surface vessels under influence of constant ocean currents
Authors:
- 1 January 2009
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 3065-3070
Abstract
The problem of path following and formation control for underactuated 3-degrees-of-freedom surface vessels in the presence of unknown ocean currents is considered. The proposed controllers make the vessels asymptotically constitute a desired formation that follows a given straight-line path with a desired speed profile. This control goal is achieved in the presence of currents of unknown direction and magnitude. The proposed controller consists of an adaptive yaw controller, which makes every vessel converge to its desired path, and a surge controller, which guarantees formation assembly along the path with the desired forward speed. The results are illustrated by simulations.Keywords
This publication has 10 references indexed in Scilit:
- Passivity-based designs for synchronized path-followingAutomatica, 2007
- Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currentsInternational Journal of Control, 2007
- Cross-Track Formation Control of Underactuated Autonomous Underwater Vehicles2006
- Global-exponential way-point maneuvering of ships: Theory and experimentsAutomatica, 2006
- Group Coordination and Cooperative Control2006
- Cross-track formation control of underactuated surface vessels2006
- Path following for marine surface vessels2005
- Cooperative Control2005
- Robust and adaptive path following for underactuated autonomous underwater vehiclesOcean Engineering, 2004
- Robust adaptive path following of underactuated shipsAutomatica, 2004