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    Practical formation control of multiple underactuated ships with limited sensing ranges

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    Fulltext not available
    Authors
    Do, Khac Duc
    Date
    2011
    Type
    Journal Article
    
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    Citation
    Do, K.D. 2011. Practical formation control of multiple underactuated ships with limited sensing ranges. Robotics and Autonomous Systems. 59 (6): pp. 457-471.
    Source Title
    Robotics and Autonomous Systems
    DOI
    10.1016/j.robot.2011.03.003
    ISSN
    0921-8890
    School
    Department of Mechanical Engineering
    URI
    http://hdl.handle.net/20.500.11937/4523
    Collection
    • Curtin Research Publications
    Abstract

    This paper presents a constructive method to design cooperative controllers that force a group of N underactuated ships with limited sensing ranges to perform a desired formation, and guarantee no collisions between the ships. These ships do not have an independent actuator in the sway axis. The desired formation is stabilized at any sufficiently smooth reference trajectories, including fixed points and nonadmissible trajectories for the ships. The formation control design is based on several nonlinear coordinate changes, the transverse function approach, the backstepping technique, the Lyapunov direct method, and smooth and p-times differentiable step functions. These functions are introduced and incorporated into novel potential functions to solve the collision avoidance problem without the need of switchings despite the ships' limited sensing ranges. Simulations illustrate the results. © 2011 Elsevier B.V. All rights reserved.

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