Name
Abstract | ||
|---|---|---|
In this paper we consider the problem of straight line path following for formations of underactuated underwater vehicles. The proposed decentralized controller makes the vehicles exponentially constitute a desired formation that follows a given straight line path with a given forward speed profile. This work builds on previous work [1] and [2] for 2D motion of 3DOF underactuated surface vessels and extends the ideas of [2] to 3D motion of 5DOF underactuated underwater vehicles. Motivated by [2], simplifying assumptions from previous works on this subject are avoided and a complete stability analysis is provided. Graph theory is used to model the inter-vehicle communication, and the proposed coordination controller respects the topological constraints of the communication network. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/CDC.2007.4434733 | PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 |
Keywords | Field | DocType |
stability analysis,stability,graph theory | Graph theory,Line (geometry),Control theory,Telecommunications network,Computer science,Control theory,Path following,Underactuation,Underwater | Conference |
ISSN | Citations | PageRank |
0743-1546 | 13 | 0.68 |
References | Authors | |
3 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Even Børhaug | 1 | 66 | 7.97 |
| Alexey Pavlov | 2 | 122 | 11.03 |
| Kristin Y. Pettersen | 3 | 153 | 16.41 |