Cooperative control of underactuated surface vessels

被引：45

作者：

Dong, W. ^{[1
]}

机构：

[1] Univ Texas Pan Amer, Dept Elect Engn, Edinburg, TX 78539 USA

来源：

IET CONTROL THEORY AND APPLICATIONS | 2010年 / 4卷 / 09期

关键词：

TRACKING CONTROL; STABILIZATION;

D O I：

10.1049/iet-cta.2009.0362

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 study considers the cooperative control of a group of underactuated surface vessels using the relative information between neighbour's information such that the group of surface vessels come into a desired geometric pattern whose centroid moves along a desired tajectory. With the aid of results from graph theory and Lyapunov techniques, decentralised cooperative control laws are proposed for different communication scenarios. The effect of communication delays on the proposed controllers is analysed. Simulation results show the effectiveness of the proposed control laws.

引用

页码：1569 / 1580

页数：12

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