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Robust Formation Control of Marine Craft Using Lagrange Multipliers

  • I.-A.F. Ihle
  • J. Jouffroy
  • T.I. Fossen
Chapter
Part of the Lecture Notes in Control and Information Science book series (LNCIS, volume 336)

Abstract

This paper presents a formation modelling scheme based on a set of inter-body constraint functions and Lagrangian multipliers. Formation control for a fleet of marine craft is achieved by stabilizing the auxiliary constraints such that the desired formation configuration appears. In the proposed framework we develop robust control laws for marine surface vessels to counteract unknown, slowly varying, environmental disturbances and measurement noise. Robustness with respect to time-delays in the communication channels are addressed by linearizing the system. Simulations of tugboats subject to environmental loads, measurement noise, and communication delays verify the theoretical results. Some future research directions and open problems are also discussed.

Keywords

Constraint Function Formation Control Constraint Force Consensus Problem Unknown Disturbance 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin/Heidelberg 2006

Authors and Affiliations

  • I.-A.F. Ihle
    • 1
  • J. Jouffroy
    • 1
  • T.I. Fossen
    • 1
    • 2
  1. 1.Centre for Ships and Ocean Structures, Norwegian University of Science and Technology, N-7491 TrondheimNorway
  2. 2.Department of Engineering Cybernetics, Norwegian University of Technology and Science, N-7491 TrondheimNorway

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