Cart (Loading....) | Create Account
Close category search window
 

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
$31 $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)
Fahimi, F. ; 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:

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

Date of Publication:

June 2007

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.