By Topic

Sliding-Mode Formation Control for Underactuated Surface Vessels

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Farbod Fahimi ; Alberta Univ., Edmonton

Sliding-mode control laws for controlling multiple unmanned surface vessels in arbitrary formations are proposed. The presented formation control method uses local information as well as the planned gross motion of the formation to achieve mesh stability. A three-degree-of-freedom dynamic model has been used for the surface vessels. It is assumed that each vessel only has two actuators and the vessels are underactuated. Mesh stability and parameter uncertainty in the dynamic model and wave disturbance are considered in designing the controllers. It is shown that the internal dynamics of the underactuated system is also stable. The effectiveness and robustness of these control laws in the presence of parameter uncertainty in the dynamic model and wave disturbances and the mesh stability of the formation are demonstrated by computer simulation.

Published in:

IEEE Transactions on Robotics  (Volume:23 ,  Issue: 3 )