کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
714873 892193 2013 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Adaptive Region Tracking Control for Multi-Ships Coordination
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
Adaptive Region Tracking Control for Multi-Ships Coordination
چکیده انگلیسی

This paper presents a design of decentralized cooperative controller that forces a group of ships with limited sensing ranges to track a common moving target region. In this control concept, the desired objective is specified as a moving region instead of a stationary point, region or a path, and hence the region tracking control concept is also a generalization of setpoint, path following, or region reaching control problem. The controllers guarantee connectivity preserving of the dynamic interaction network, and no collisions happen between any ships in the group. The tracking control design is based on the artificial potential functions, recursive design technique and Lyapunov's method. Moreover, the problem of parametric uncertainties is handled by adaptive control techniques. Simulation results are represented to illustrate the performance of the proposed approach.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 46, Issue 20, 2013, Pages 39-44