Distributed coordinated control of multiple underactuated marine surface vehicles along one curve

被引:0
|
作者
Liu, Lu [1 ]
Wang, Dan [1 ]
Peng, Zhouhua [1 ]
机构
[1] Dalian Maritime Univ, Sch Marine Engn, Dalian 116026, Peoples R China
来源
PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC) | 2016年
关键词
Coordinated path following; Line-of-sight; Path variable containment;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper investigates the coordination problem for multiple underacutated marine surface vehicles (MSVs) along one curve. The dedicated control designs are categorized into two envelopes. One is to steer individual underactuated MSV to track the given spatial path, and the other is to force the vehicles dispersed on a parameterized path. With these two tasks formulation, a coordinated path following controller is developed based on a line-of-sight guidance law and a new path variable containment design approach. Specifically, the vehicle coordination is achieved by adapting the speed of the vehicles, such that the path variables of the vehicles are uniformly dispersed between those of two virtual leaders. The path following control subsystem and the coordination control subsystem form a cascade system, which is shown to be uniform global asymptotic stable. Simulation results demonstrate the effectiveness of the new coordination method.
引用
收藏
页码:4880 / 4885
页数:6
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