Passivity-based formation control of autonomous underwater vehicles

IET Control Theory and Applications

Volumn 6, Issue 4, 2012, Pages 518-525

  Wang, Y ^a   Yan, W ^a   Li, J ^a  

^a NORTHWESTERN POLYTECHNICAL UNIVERSITY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

COOPERATING VEHICLES; DISTRIBUTED CONTROL STRATEGY; FORMATION CONTROL; MATROSOV THEOREM; REFERENCE VELOCITY; VIRTUAL DYNAMICS;

CONTROL THEORY; ELECTRICAL ENGINEERING;

AUTONOMOUS UNDERWATER VEHICLES;

EID: 84863384930     PISSN: 17518644     EISSN: 17518652     Source Type: Journal    
DOI: 10.1049/iet-cta.2011.0354     Document Type: Article

References (19)

1. Martin, M., and Kilberg, S.: ' Techsat 21 and revolutionizing space missions using microsatellites ', Proc. 15th AIAA/USU Conf. on Small Satellites, Logan, UT, USA, August, 2001, [CD-ROM]
2. Ghabcheloo, R., Aguiar, A., Pascoal, A., Silvestre, C., Kaminer, I., and Hespanha, J.: ' Coordinated path-following control of multiple underactuated autonomous vehicles in the presence of communication failures ', Proc. 45th IEEE Conf. on Decision and Control, San Diego, CA, USA, December, 2006, p. 4345-4350 (Pubitemid 351283997)
3. Giulietti, F., Pollini, L., and Innocenti, M.: ' Autonomous formation flight ', IEEE Control Syst. Mag., 2002, 20, (6), p. 34-44 0272-1708 (Pubitemid 32074953)
4. Ren, W., and Sorensen, N.: ' Distributed coordination architecture for multi-robot formation control ', Int. J. Robot. Auton. Syst., 2008, 56, (4), p. 324-333 10.1016/j.robot.2007.08.005 (Pubitemid 351400367)
5. Kanjanawanishkul, K., Hofmeister, M., and Zell, A.: ' Coordinated path following for mobile robots ', Dillmann, R., Beyerer, J., Stiller, C., Marius, Z.J., Gindele, T., Autonome Mobile Systeme, 2009),(Springer
6. Lapierre, L., Soetanto, D., and Pascoal, A.: ' Coordinated motion control of marine robots ', Proc. IFAC Conf. on Manoeuvering and Control of Marine Craft, Girona, Spain, 2003, p. 212-217
7. Skjetne, R., Moi, S., and Fossen, T.: ' Nonlinear formation control of marine craft ', Proc. 41th Conf. on Decision and Control, Las Vegas, NV, USA, December, 2002, p. 1699-1704
8. Borhaug, E., Pavlov, A., and Pettersen, K.: ' Straight line path following for formations of underactuated underwater vehicles ', Proc. 46th Conf. on Decision and Control, New Orleans, LA, USA, December, 2007, p. 2905-2912
9. Ihle, I.A.F., Skjetne, R., and Fossen, T.I.: ' Nonlinear formation control of marine craft with experimental results ', Proc. 43th Conf. on Decision and Control, Atalantis, Paradise Island, Bahamas, December, 2004, p. 680-685 (Pubitemid 40302577)
10. Aguiar, A., Almeida, J., and Bayat, M.: ' Cooperative autonomous marine vehicle motion control in the scope of the EU GREX project: theory and practice ', Proc. IEEE/MTS Int. Conf. on OCEANS, Bremen, Germany, May, 2009, p. 1-10
11. Ghommam, J., and Mnif, F.: ' Coordinated path-following control for a group of underactuated surface vessels ', IEEE Trans. Ind. Electron., 2009, 56, (10), p. 3951-3963 10.1109/TIE.2009.2028362 0278-0046
12. Dong, W.: ' Cooperative control of under actuated surface vessels ', IET Control Theory Appl., 2010, 4, (9), p. 1569-1580 10.1049/iet-cta.2009.0362
13. Arcak, M.: ' Passivity as a design tool for group coordination ', IEEE Trans. Autom. Control, 2007, 52, (8), p. 1380-1390 10.1109/TAC.2007.902733 0018-9286 (Pubitemid 47321551)
14. Ihle, I.F., Arcak, M., and Fossen, T.I.: ' Passivity-based designs for synchronized path-following ', Automatica, 2007, 43, (9), p. 1508-1518 10.1016/j.automatica.2007.02.018 0005-1098 (Pubitemid 47198214)
15. Bai, H., Arcak, M., and Wen, J.T.: ' Adaptive design for reference velocity recovery in motion coordination ', Syst. Control Lett., 2008, 57, (8), p. 602-610 10.1016/j.sysconle.2007.07.003 0167-6911 (Pubitemid 351749481)
16. Fossen, T.: ' Guidance and control of ocean vehicles ', 1994),(Wiley, New York
17. Khalil, H.K.: ' Nolinear systems ', 1996),(Prentice-Hall, Englewood Cliffs, NJ
18. ' L2-gain and passivity techniques in nonlinear control ', 2000),(Springer
19. Loria, A., Panteley, E., Popovic, D., and Teel, A.R.: ' A nested Matrosov theorem and persistency of excitation for uniform convergence in stable nonautonomous systems ', IEEE Trans. Autom. Control, 2005, 50, (2), p. 183-198 10.1109/TAC.2004.841939 0018-9286 (Pubitemid 40319349)