Formation control of surface marine craft using Lagrange multipliers

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

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

Resumé

We propose a method for constructing control laws for formation control of marine craft using classical tools from analytical mechanics. The control law is based on applying inter-vessel constraint functions which again impose forces on the individual vessels that maintain the given constraints on the total system. In this way, a formation can be assembled and stay together when exposed to external forces. A brief comparison with other control designs for a group of marine craft is done. Further, control laws for formation assembling (with dynamic positioning), and formation keeping during maneuvering is derived and simulated to illustrate the properties of the proposed method.

OriginalsprogEngelsk
Publikationsdato2005
StatusUdgivet - 2005
BegivenhedConference on Decision and Control (CDC'05) - Seville, Spanien
Varighed: 24. aug. 2010 → …

Konference

KonferenceConference on Decision and Control (CDC'05)
LandSpanien
BySeville
Periode24/08/2010 → …

Fingeraftryk

Lagrange multipliers
Dynamic positioning
Mechanics

Citer dette

Ihle, I-A. F., Jouffroy, J., & Fossen, T. I. (2005). Formation control of surface marine craft using Lagrange multipliers. Afhandling præsenteret på Conference on Decision and Control (CDC'05), Seville, Spanien.
Ihle, Ivar-Andre F. ; Jouffroy, Jerome ; Fossen, Thor I. / Formation control of surface marine craft using Lagrange multipliers. Afhandling præsenteret på Conference on Decision and Control (CDC'05), Seville, Spanien.
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Ihle, I-AF, Jouffroy, J & Fossen, TI 2005, 'Formation control of surface marine craft using Lagrange multipliers' Paper fremlagt ved Conference on Decision and Control (CDC'05), Seville, Spanien, 24/08/2010, .

Formation control of surface marine craft using Lagrange multipliers. / Ihle, Ivar-Andre F.; Jouffroy, Jerome; Fossen, Thor I.

2005. Afhandling præsenteret på Conference on Decision and Control (CDC'05), Seville, Spanien.

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

TY - CONF

T1 - Formation control of surface marine craft using Lagrange multipliers

AU - Ihle, Ivar-Andre F.

AU - Jouffroy, Jerome

AU - Fossen, Thor I.

PY - 2005

Y1 - 2005

N2 - We propose a method for constructing control laws for formation control of marine craft using classical tools from analytical mechanics. The control law is based on applying inter-vessel constraint functions which again impose forces on the individual vessels that maintain the given constraints on the total system. In this way, a formation can be assembled and stay together when exposed to external forces. A brief comparison with other control designs for a group of marine craft is done. Further, control laws for formation assembling (with dynamic positioning), and formation keeping during maneuvering is derived and simulated to illustrate the properties of the proposed method.

AB - We propose a method for constructing control laws for formation control of marine craft using classical tools from analytical mechanics. The control law is based on applying inter-vessel constraint functions which again impose forces on the individual vessels that maintain the given constraints on the total system. In this way, a formation can be assembled and stay together when exposed to external forces. A brief comparison with other control designs for a group of marine craft is done. Further, control laws for formation assembling (with dynamic positioning), and formation keeping during maneuvering is derived and simulated to illustrate the properties of the proposed method.

M3 - Paper

ER -

Ihle I-AF, Jouffroy J, Fossen TI. Formation control of surface marine craft using Lagrange multipliers. 2005. Afhandling præsenteret på Conference on Decision and Control (CDC'05), Seville, Spanien.