Formation control of marine craft using constraint functions

I.-A.F. Ihle; J. Jouffroy; T.I. Fossen

doi:10.1109/OCEANS.2005.1639888

Formation control of marine craft using constraint functions

I.-A.F. Ihle
, J. Jouffroy
, T.I. Fossen

Norwegian University of Science and Technology

Publikation: Bidrag til bog/antologi/rapport › Konferenceartikel i proceeding › peer review

Abstract

This article presents a method for formation control of marine surface vessels inspired by Lagrangian mechanics. The desired formation configuration is given as a set of constraint functions. The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Since the constraint functions are designed for a desired effect, the forces can be seen as control laws. These forces act so that the constraint functions are satisfied in order to keep the formation assembled during operations. Examples of constraint functions that can be used to maintain a formation are presented. Simulations with surface vessel models have been performed to illustrate the proposed method.

Originalsprog	Engelsk
Titel	Proceedings of MTS/IEEE OCEANS, 2005
Publikationsdato	2005
DOI	https://doi.org/10.1109/OCEANS.2005.1639888
Status	Udgivet - 2005
Udgivet eksternt	Ja

Emneord

Teknik, ingeniørvidenskab og IT
Formation control
Lagrangian systems
Marine craft

Adgang til dokumentet

10.1109/OCEANS.2005.1639888

Andre filer og links

https://www.scopus.com/pages/publications/33947185384

Citationsformater

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abstract = "This article presents a method for formation control of marine surface vessels inspired by Lagrangian mechanics. The desired formation configuration is given as a set of constraint functions. The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Since the constraint functions are designed for a desired effect, the forces can be seen as control laws. These forces act so that the constraint functions are satisfied in order to keep the formation assembled during operations. Examples of constraint functions that can be used to maintain a formation are presented. Simulations with surface vessel models have been performed to illustrate the proposed method.",

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AB - This article presents a method for formation control of marine surface vessels inspired by Lagrangian mechanics. The desired formation configuration is given as a set of constraint functions. The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Since the constraint functions are designed for a desired effect, the forces can be seen as control laws. These forces act so that the constraint functions are satisfied in order to keep the formation assembled during operations. Examples of constraint functions that can be used to maintain a formation are presented. Simulations with surface vessel models have been performed to illustrate the proposed method.

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