Formation controllers for underactuated surface vessels and zero dynamics stability

zbMATH Open1173.93344MaRDI QIDQ3396946FDOQ3396946

Authors: Farbod Fahimi, S. V. S. Rineesh, C. Nataraj 

Publication date: 22 September 2009

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zbMATH Keywords

formation controlnonlinear controlautonomous surface vesselsleader-followerinput-output model

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Feedback control (93B52) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Stability of control systems (93D99)

Cited In (7)

• Robust coordinated formation for multiple surface vessels based on backstepping sliding mode control
• A new formation control of multiple underactuated surface vessels
• Time-varying formation control of multiple unmanned surface vessels with heterogeneous hydrodynamics subject to actuator attacks
• Non-linear model predictive formation control for groups of autonomous surface vessels
• Formation control of marine surface vessels using the null-space-based behavioral control
• Adaptive output-feedback formation control for underactuated surface vessels
• Robust formation control of marine craft using Lagrange multipliers

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