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dc.contributor.authorBelleter, Dennis Johannes Wouter
dc.contributor.authorPettersen, Kristin Ytterstad
dc.date.accessioned2016-01-09T15:15:27Z
dc.date.accessioned2016-04-29T12:01:14Z
dc.date.available2016-01-09T15:15:27Z
dc.date.available2016-04-29T12:01:14Z
dc.date.issued2015
dc.identifier.citationProceedings of the IEEE 2015:1023-1030nb_NO
dc.identifier.issn1558-2256
dc.identifier.urihttp://hdl.handle.net/11250/2388097
dc.description.abstractThis 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.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titlePath Following with Disturbance Rejection for Inhomogeneous Formations with Underactuated Agentsnb_NO
dc.typeConference objectnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2016-01-09T15:15:27Z
dc.source.pagenumber1023-1030nb_NO
dc.identifier.doi10.1109/ECC.2015.7330675
dc.identifier.cristin1309083
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode© IEEE. This is the authors pre-refereed manuscript to the article.nb_NO


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