Journal
AUTOMATICA
Volume 48, Issue 7, Pages 1380-1388Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2011.11.013
Keywords
Underactuated ships; Formation control; Elliptical disks; Collision avoidance; Potential functions
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Based on the recent theoretical development for formation control of multiple fully actuated agents with an elliptical shape in Do (2012), this paper develops distributed controllers that force a group of N underactuated ships with limited communication ranges to perform a desired formation, and guarantee no collisions between any ships in the group. The ships are first fitted to elliptical disks for solving collision avoidance. A coordinate transformation is then proposed to introduce an additional control input, which overcomes difficulties caused by underactuation and off-diagonal terms in the system matrices. The control design relies on potential functions with the separation condition between elliptical disks and the smooth or p-times differentiable step functions embedded in. (C) 2012 Elsevier Ltd. All rights reserved.
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