Formation control of marine craft using constraint functions

This article presents a method for formation control of marine surface vessels inspired by Lagrangian mechanics. The desired formation configuration is given as a set of constraint functions. The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Since the constraint functions are designed for a desired effect, the forces can be seen as control laws. These forces act so that the constraint functions are satisfied in order to keep the formation assembled during operations. Examples of constraint functions that can be used to maintain a formation are presented. Simulations with surface vessel models have been performed to illustrate the proposed method