• norsk
    • English
  • English 
    • norsk
    • English
  • Login
View Item 
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Path Following with Disturbance Rejection for Inhomogeneous Formations with Underactuated Agents

Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad
Conference object, Journal article, Peer reviewed
Thumbnail
View/Open
ECC15_DB_KYP.pdf (632.6Kb)
URI
http://hdl.handle.net/11250/2388097
Date
2015
Metadata
Show full item record
Collections
  • Institutt for teknisk kybernetikk [2238]
  • Publikasjoner fra CRIStin - NTNU [20804]
Original version
Proceedings of the IEEE 2015:1023-1030   10.1109/ECC.2015.7330675
Abstract
This paper considers straight-line path following for

inhomogeneous formations with underactuated agents. The formation

can be comprised of agents with different dynamics that are each

affected by a different unknown environmental disturbance. Formation

path following is achieved using a twofold strategy consisting of

a guidance law to steer each vessel to a predefined path and a

decentralised nonlinear formation control law utilising local information

only to synchronise the agents position along the path such that a

desired formation is achieved. The resulting closed-loop error dynamics

consisting of the path-following error dynamics and formation error

dynamics is analysed using theory for feedback-interconnected systems.

The origin of the closed-loop error dynamics is shown to be uniformly

globally asymptotically stable. The control strategy is validated with

simulation results in a case study.
Publisher
IEEE

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit
 

 

Browse

ArchiveCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsDocument TypesJournalsThis CollectionBy Issue DateAuthorsTitlesSubjectsDocument TypesJournals

My Account

Login

Statistics

View Usage Statistics

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit