| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 723673 | IFAC Proceedings Volumes | 2007 | 6 Pages |
Abstract
The problem of formation control and path following for underactuated 3-degrees-of-freedom (DOF) surface vessels is considered. The proposed decentralized controller makes the vessels asymptotically constitute a desired formation that follows a given straight line path with a given forward speed profile. The controller consists of a Line-of-Sight guidance law and a coordination control law. In this work simplifying assumptions from previous works on this subject are avoided and a complete stability analysis is provided. The results are illustrated with simulations.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Alexey Pavlov, Even Børhaug, Elena Panteley, Kristin Y. Pettersen,