Formation control of marine craft using constraint functions

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

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Abstract

This article presents a method for formation control of marine surface vessels inspired by Lagrangian mechanics. The desired formation configuration is given as a set of constraint functions. The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Since the constraint functions are designed for a desired effect, the forces can be seen as control laws. These forces act so that the constraint functions are satisfied in order to keep the formation assembled during operations. Examples of constraint functions that can be used to maintain a formation are presented. Simulations with surface vessel models have been performed to illustrate the proposed method.
Original languageEnglish
Publication date2005
Publication statusPublished - 2005
EventIEEE Marine Technology and Ocean Science Conference (Oceans'05) - Washington, United States
Duration: 24. Aug 2010 → …

Conference

ConferenceIEEE Marine Technology and Ocean Science Conference (Oceans'05)
CountryUnited States
CityWashington
Period24/08/2010 → …

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Ihle, I-A. F., Jouffroy, J., & Fossen, T. I. (2005). Formation control of marine craft using constraint functions. Paper presented at IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, United States.
Ihle, Ivar-Andre F. ; Jouffroy, Jerome ; Fossen, Thor I. / Formation control of marine craft using constraint functions. Paper presented at IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, United States.
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abstract = "This article presents a method for formation control of marine surface vessels inspired by Lagrangian mechanics. The desired formation configuration is given as a set of constraint functions. The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Since the constraint functions are designed for a desired effect, the forces can be seen as control laws. These forces act so that the constraint functions are satisfied in order to keep the formation assembled during operations. Examples of constraint functions that can be used to maintain a formation are presented. Simulations with surface vessel models have been performed to illustrate the proposed method.",
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Ihle, I-AF, Jouffroy, J & Fossen, TI 2005, 'Formation control of marine craft using constraint functions', Paper presented at IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, United States, 24/08/2010.

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

2005. Paper presented at IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, United States.

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

TY - CONF

T1 - Formation control of marine craft using constraint functions

AU - Ihle, Ivar-Andre F.

AU - Jouffroy, Jerome

AU - Fossen, Thor I.

PY - 2005

Y1 - 2005

N2 - This article presents a method for formation control of marine surface vessels inspired by Lagrangian mechanics. The desired formation configuration is given as a set of constraint functions. The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Since the constraint functions are designed for a desired effect, the forces can be seen as control laws. These forces act so that the constraint functions are satisfied in order to keep the formation assembled during operations. Examples of constraint functions that can be used to maintain a formation are presented. Simulations with surface vessel models have been performed to illustrate the proposed method.

AB - This article presents a method for formation control of marine surface vessels inspired by Lagrangian mechanics. The desired formation configuration is given as a set of constraint functions. The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Since the constraint functions are designed for a desired effect, the forces can be seen as control laws. These forces act so that the constraint functions are satisfied in order to keep the formation assembled during operations. Examples of constraint functions that can be used to maintain a formation are presented. Simulations with surface vessel models have been performed to illustrate the proposed method.

M3 - Paper

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Ihle I-AF, Jouffroy J, Fossen TI. Formation control of marine craft using constraint functions. 2005. Paper presented at IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, United States.