Cooperative Path-Following of Multiples Surface Vessels with Parametric Model Uncertainty and in the Presence of Ocean Currents

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Status	已發表Published
	Cooperative Path-Following of Multiples Surface Vessels with Parametric Model Uncertainty and in the Presence of Ocean Currents
	Almeida, J; Silvestre, C; Pascoal, A
	2007-09-01
Source Publication	Proc. of the 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2007)
Pages	1-6
Publication Place	Laxenburg, Austria
Publisher	IFAC
Abstract	This paper addresses the problem of cooperative path-following of multiple autonomous vehicles. Stated briefly, the problem consists in steering a group of vehicles along specified paths, while keeping a desired spatial formation arrangement. For a given class of autonomous surface vessels, it is shown how Lyapunov based techniques and graph theory can be brought together to design a decentralised control structure where the vehicle dynamics and the constraints imposed by the topology of the inter-vehicle communication network are explicitly taken into account. Path-following for each vehicle amounts to reducing an appropriately defined geometric error to zero, in the presence of ocean currents and parametric model uncertainty. Vehicle cooperation is achieved by adjusting the speed of each vehicle along its path according to information exchanged on the positions of a subset of the other vehicles, as determined by the communication topology adopted. Global stability and convergence of the closed-loop system are guaranteed.
Keyword	Cooperative motion control Path-following Autonomous surface vehicles Graph theory Nonlinear control Adaptive control.
Language	英語English
The Source to Article	PB_Publication
PUB ID	43073
Document Type	Conference paper
Collection	DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Recommended Citation GB/T 7714	Almeida, J,Silvestre, C,Pascoal, A. Cooperative Path-Following of Multiples Surface Vessels with Parametric Model Uncertainty and in the Presence of Ocean Currents[C], Laxenburg, Austria:IFAC, 2007, 1-6.
APA	Almeida, J., Silvestre, C., & Pascoal, A (2007). Cooperative Path-Following of Multiples Surface Vessels with Parametric Model Uncertainty and in the Presence of Ocean Currents. Proc. of the 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2007), 1-6.

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