Formation control of multiple marine vehicles based passivity-control design

Jawhar Ghommam; Faïçal Mnif; Oscar Calvo

doi:10.1109/SSD.2009.4956697

Formation control of multiple marine vehicles based passivity-control design

Jawhar Ghommam^*, Faïçal Mnif, Oscar Calvo

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

This paper addresses the problem of coordination path following control of multiple autonomous vehicles. Stated briefly, the problem consists in steering a group of vehicles along a specified paths, while holding a desired inter-ship formation pattern. Path-following for each vehicle amounts to reducing an appropriately defined geometric error to zero. We first show a passivity property for the path following system and, next, combine this with a passivity-based synchronization algorithm developed in [2] to coordinate the vehicles along their paths. Vehicle coordination is achieved by adjusting the speed of each vehicle along its path according to information exchanged on the positions of a subset of the other vehicles, as determined by the communication topology adopted. Global stability and convergence of the closed-loop system are guaranteed.

Original language	English
Title of host publication	2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009
DOIs	https://doi.org/10.1109/SSD.2009.4956697
Publication status	Published - 2009
Externally published	Yes
Event	2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009 - Djerba, Taiwan, Province of China Duration: Mar 23 2009 → Mar 26 2009

Publication series

Name	2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009

Other

Other	2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009
Country/Territory	Taiwan, Province of China
City	Djerba
Period	3/23/09 → 3/26/09

Keywords

Cooperative control
Marine vehicle
Passivity theory
Path following
Serret- frenet

ASJC Scopus subject areas

Hardware and Architecture
Signal Processing
Control and Systems Engineering
Electrical and Electronic Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/SSD.2009.4956697

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Formation control of multiple marine vehicles based passivity-control design. / Ghommam, Jawhar; Mnif, Faïçal; Calvo, Oscar.
2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009. 2009. 4956697 (2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ghommam, J, Mnif, F & Calvo, O 2009, Formation control of multiple marine vehicles based passivity-control design. in 2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009., 4956697, 2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009, 2009 6th International Multi-Conference on Systems, Signals and Devices, SSD 2009, Djerba, Taiwan, Province of China, 3/23/09. https://doi.org/10.1109/SSD.2009.4956697

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Formation control of multiple marine vehicles based passivity-control design

Abstract

Publication series

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Keywords

ASJC Scopus subject areas

UN SDGs

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