Formation control of marine surface craft: a Lagrangian approach

Ivar-Andre F. Ihle, Jerome Jouffroy, Thor I. Fossen

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

Resumé

Udgivelsesdato: October
OriginalsprogEngelsk
TidsskriftIEEE Journal of Oceanic Engineering
Vol/bind31
Udgave nummer4
Sider (fra-til)922-934
Antal sider13
ISSN0364-9059
StatusUdgivet - 1. okt. 2006

Fingeraftryk

Mechanics
Tugboats
Position control
Time delay
Feedback

Citer dette

Ihle, Ivar-Andre F. ; Jouffroy, Jerome ; Fossen, Thor I. / Formation control of marine surface craft: a Lagrangian approach. I: IEEE Journal of Oceanic Engineering. 2006 ; Bind 31, Nr. 4. s. 922-934.
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abstract = "This paper presents a method for formation control of marine surface craft inspired by Lagrangian mechanics. The desired formation configuration and response of the marine surface craft are given as a set of constraints in analytical mechanics. Thus, constraints forces arise and feedback from the constraint functions keeps the formation assembled. Since the constraint functions are designed for a desired effect, the forces can be interpreted as control laws. Examples of constraint functions that maintain a formation are presented. Furthermore, the same approach has been applied with no major modification to position control proposes for a single vessel. An extension to underactuated vessles is given. Simulations with nonlinear models of tugboats illustrate the proposed method versatility and its robustness with respect to  environmental disturbances and time delays.",
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Formation control of marine surface craft: a Lagrangian approach. / Ihle, Ivar-Andre F.; Jouffroy, Jerome; Fossen, Thor I.

I: IEEE Journal of Oceanic Engineering, Bind 31, Nr. 4, 01.10.2006, s. 922-934.

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

TY - JOUR

T1 - Formation control of marine surface craft: a Lagrangian approach

AU - Ihle, Ivar-Andre F.

AU - Jouffroy, Jerome

AU - Fossen, Thor I.

PY - 2006/10/1

Y1 - 2006/10/1

N2 - This paper presents a method for formation control of marine surface craft inspired by Lagrangian mechanics. The desired formation configuration and response of the marine surface craft are given as a set of constraints in analytical mechanics. Thus, constraints forces arise and feedback from the constraint functions keeps the formation assembled. Since the constraint functions are designed for a desired effect, the forces can be interpreted as control laws. Examples of constraint functions that maintain a formation are presented. Furthermore, the same approach has been applied with no major modification to position control proposes for a single vessel. An extension to underactuated vessles is given. Simulations with nonlinear models of tugboats illustrate the proposed method versatility and its robustness with respect to  environmental disturbances and time delays.

AB - This paper presents a method for formation control of marine surface craft inspired by Lagrangian mechanics. The desired formation configuration and response of the marine surface craft are given as a set of constraints in analytical mechanics. Thus, constraints forces arise and feedback from the constraint functions keeps the formation assembled. Since the constraint functions are designed for a desired effect, the forces can be interpreted as control laws. Examples of constraint functions that maintain a formation are presented. Furthermore, the same approach has been applied with no major modification to position control proposes for a single vessel. An extension to underactuated vessles is given. Simulations with nonlinear models of tugboats illustrate the proposed method versatility and its robustness with respect to  environmental disturbances and time delays.

KW - Analytical mechanics

KW - formation control

KW - marine surface vessels

M3 - Journal article

VL - 31

SP - 922

EP - 934

JO - I E E E Journal of Oceanic Engineering

JF - I E E E Journal of Oceanic Engineering

SN - 0364-9059

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