Leader-follower formation of marine craft using constraint forces and lagrange multipliers

In this paper, we make a connection between formation control of underactuated marine craft and modeling of constrained multibody systems. We propose a dynamic controller for master-slave formations, which accomplishes the path-maneuvering task of the master and the synchronization of the leaders wi...

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Bibliographic Details
Published in2012 IEEE 51st IEEE Conference on Decision and Control (CDC) pp. 2447 - 2452
Main Authors Peymani, E., Fossen, T. I.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2012
Subjects
Actuators
Equations
Force
Mathematical model
Vectors
Vehicle dynamics
Vehicles
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Summary:In this paper, we make a connection between formation control of underactuated marine craft and modeling of constrained multibody systems. We propose a dynamic controller for master-slave formations, which accomplishes the path-maneuvering task of the master and the synchronization of the leaders with the master. Computer simulations are also conducted for identical INFANTE AUVs to verify the validity of the theoretical developments. Robustness with respect to irrotational constant ocean currents is also studied.
ISBN:9781467320658
146732065X
ISSN:0191-2216
DOI:10.1109/CDC.2012.6426592