Non-linear model predictive formation control for groups of autonomous surface vessels

DOI10.1080/00207170701280911MaRDI QIDQ5423834zbMATH OpenOpenAlexFDO

Authors Farbod Fahimi

Publication date 31 October 2007

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207170701280911

zbMATH Keywords

control of groups of vehiclescontroller designgeometrical control schemes

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Geometric methods (93B27) Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Formation controllers for underactuated surface vessels and zero dynamics stability
• Connectivity-maintaining and collision-avoiding performance function approach for robust leader-follower formation control of multiple uncertain underactuated surface vessels
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• A new formation control of multiple underactuated surface vessels
• Robust adaptive formation control of underactuated autonomous surface vessels based on MLP and DOB

Cites work

• A Graph Theoretic Approach for Modeling Mobile Robot Team Formations
• Decentralized control of vehicle formations
• Distributed receding horizon control for multi-vehicle formation stabilization
• Exponential stabilization of an underactuated autonomous surface vessel
• Formation control of multiple vehicles using dynamic surface control and hybrid systems
• Information Flow and Cooperative Control of Vehicle Formations
• Robust nonlinear ship course-keeping control byH? I/O linearization and?-synthesis
• Underactuated ship tracking control: Theory and experiments

Cited in

(11)

• Guided leaderless coordinated formation algorithm for multiple surface vessels
• LMI-based model predictive control for underactuated surface vessels with input constraints
• Finite-time cooperative tracking control algorithm for multiple surface vessels
• Containment control of underactuated ships with environment disturbances and parameter uncertainties
• Incremental predictive control-based output consensus of networked unmanned surface vehicle formation systems
• Robust coordinated formation for multiple surface vessels based on backstepping sliding mode control
• Fault tolerant finite-time leader-follower formation control for autonomous surface vessels with LOS range and angle constraints
• Reconfigurable Synchronization Control of Networked Euler-Lagrange Systems with Switching Communication Topologies
• Formation control of marine surface vessels using the null-space-based behavioral control
• Formation controllers for underactuated surface vessels and zero dynamics stability
• A new formation control of multiple underactuated surface vessels

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