zbMATH — the first resource for mathematics

Cooperative control of multiple surface vessels in the presence of ocean currents and parametric model uncertainty. (English) Zbl 1204.93008
Summary: This paper addresses the problem of cooperative path-following of multiple autonomous vehicles. Stated briefly, the problem consists of steering a group of vehicles along specified paths while keeping a desired spatial formation. For a given class of autonomous surface vessels, it is shown how Lyapunov-based techniques and graph theory can be brought together to design a decentralized control structure, where the vehicle dynamics and the constraints imposed by the topology of the inter-vehicle communication network are explicitly taken into account. To achieve path-following for each vehicle, a nonlinear adaptive controller is designed that yields convergence of the trajectories of the closed-loop system to the path in the presence of constant unknown ocean currents and parametric model uncertainty. The controller derived implicitly compensates for the effect of the ocean current without the need for direct measurements of its velocity. Vehicle cooperation is achieved by adjusting the speed of each vehicle along its path according to information exchanged on the positions of a subset of the other vehicles, as determined by the communication topology adopted. Global stability and convergence of the closed-loop system are guaranteed. Illustrative examples are presented and discussed.

MSC:
 93A14 Decentralized systems 93C85 Automated systems (robots, etc.) in control theory 93C41 Control/observation systems with incomplete information 93D05 Lyapunov and other classical stabilities (Lagrange, Poisson, $$L^p, l^p$$, etc.) in control theory 94C15 Applications of graph theory to circuits and networks
Full Text:
References:
 [1] Schoenwald, Auvs: In space, air, water, and on the ground, IEEE Control Systems Magazine 20 (6) pp 15– (2000) [2] Aguiar A Almeida J Bayat M Cardeira B Cunha R Häusler A Maurya P Oliveira A Pascoal A Pereira A et al Cooperative autonomous marine vehicle motion control in the scope of the EU GREX project: Theory and practice [3] Gomes P Silvestre C Pascoal A Cunha R A coast line following preview controller for the Delfimx vehicle [4] Pascoal A Oliveira P Silvestre C Sebastião L Rufino M Barroso V Gomes JP Ayela G Coince P Cardew M et al Robotic ocean vehicles for marine science applications: the european asimov project 409 415 [5] Arrichiello, Lecture Notes in Control and Information Systems, in: Group Coordination and Cooperative Control (2006) [6] Ihle, Lecture Notes in Control and Information Systems, in: Group Coordination and Cooperative Control (2006) [7] Murray, Recent research in cooperative control of multivehicle systems, Journal of Dynamic Systems, Measurement and Control 129 (5) pp 571– (2007) [8] Børhaug E Pavlov A Pettersen KY Straight line path following for formations of underactuated underwater vehicles 2905 2912 [9] Zhang, Control of coordinated patterns for ocean sampling, International Journal of Control 80 (7) pp 1186– (2007) · Zbl 1119.93014 [10] Lapierre L Soetanto D Pascoal A Coordinated motion control of marine robots · Zbl 1123.93060 [11] Ghabcheloo, Nonlinear coordinated path following control of multiple wheeled robots with bidirectional communication constraints, International Journal of Adaptive Control and Signal Processing 21 (2-3) pp 133– (2007) · Zbl 1115.93068 [12] Ghabcheloo, Twelfth International Conference on Advanced Robotics pp 657– (2005) [13] Ghabcheloo R Pascoal A Silvestre C Kaminer I Coordinated path following control of multiple wheeled robots with directed communication links 7084 7089 · Zbl 1115.93068 [14] Ghabcheloo R Aguiar AP Pascoal A Silvestre C Kaminer I Hespanha JP Coordinated path-following of multiple underactuated autonomous vehicles in the presence of communication failures 4345 4350 · Zbl 1182.93005 [15] Ihle, Passivity-based designs for synchronized path-following, Automatica 43 (9) pp 1508– (2007) · Zbl 1128.93331 [16] Skjetne, Adaptive output maneuvering with experiments for a model ship in a marine control laboratory, Automatica 41 (4) pp 289– (2005) · Zbl 1096.93026 [17] Aguiar AP Ghabcheloo R Pascoal A Silvestre C Hespanha JP Kaminer I Coordinated path-following of multiple underactuated autonomous vehicles with bidirectional communication constraints · Zbl 1182.93005 [18] Krstić, Nonlinear and Adaptive Control Design (1995) [19] Khalil, Nonlinear Systems (2002) [20] Fossen, Guidance and Control of Ocean Vehicles (1994) [21] Encarnação P Pascoal A Combined trajectory tracking and path following for marine craft [22] Skjetne R Fossen TI On integral control in backstepping: analysis of different techniques 2004 1899 1904 [23] Aguiar AP Pascoal AM Dynamic positioning and way-point tracking of underactuated auvs in the presence of ocean currents 2002 2105 2110 · Zbl 1119.93048 [24] Refsnes JE Sørensen AJ Pettersen KY Design of output-feedback control system for high speed maneuvering of an underwater vehicle 2005 1167 1174 [25] Godsil, Graduate Texts in Mathematics, in: Algebraic Graph Theory (2001) [26] Olfati-Saber, Consensus problems in networks of agents with switching topology and time-delays, IEEE Transactions on Automatic Control 49 (9) pp 1520– (2004) · Zbl 1365.93301
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. It attempts to reflect the references listed in the original paper as accurately as possible without claiming the completeness or perfect precision of the matching.