Formation control of underactuated ships with elliptical shape approximation and limited communication ranges
Based on the recent theoretical development for formation control of multiple fully actuated agents with an elliptical shape in Do (2012), this paper develops distributed controllers that force a group of NN underactuated ships with limited communication ranges to perform a desired formation, and gu...
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| Format: | Journal Article |
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2012
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| Online Access: | http://hdl.handle.net/20.500.11937/7320 |
| _version_ | 1848745334976544768 |
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| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | Based on the recent theoretical development for formation control of multiple fully actuated agents with an elliptical shape in Do (2012), this paper develops distributed controllers that force a group of NN underactuated ships with limited communication ranges to perform a desired formation, and guarantee no collisions between any ships in the group. The ships are first fitted to elliptical disks for solving collision avoidance. A coordinate transformation is then proposed to introduce an additional control input, which overcomes difficulties caused by underactuation and off-diagonal terms in the system matrices. The control design relies on potential functions with the separation condition between elliptical disks and the smooth or pp-times differentiable step functions embedded in. |
| first_indexed | 2025-11-14T06:15:43Z |
| format | Journal Article |
| id | curtin-20.500.11937-7320 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T06:15:43Z |
| publishDate | 2012 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-73202019-02-19T04:26:27Z Formation control of underactuated ships with elliptical shape approximation and limited communication ranges Do, Khac Duc Potential functions Collision avoidance Elliptical disks Formation control Underactuated ships Based on the recent theoretical development for formation control of multiple fully actuated agents with an elliptical shape in Do (2012), this paper develops distributed controllers that force a group of NN underactuated ships with limited communication ranges to perform a desired formation, and guarantee no collisions between any ships in the group. The ships are first fitted to elliptical disks for solving collision avoidance. A coordinate transformation is then proposed to introduce an additional control input, which overcomes difficulties caused by underactuation and off-diagonal terms in the system matrices. The control design relies on potential functions with the separation condition between elliptical disks and the smooth or pp-times differentiable step functions embedded in. 2012 Journal Article http://hdl.handle.net/20.500.11937/7320 10.1016/j.automatica.2011.11.013 fulltext |
| spellingShingle | Potential functions Collision avoidance Elliptical disks Formation control Underactuated ships Do, Khac Duc Formation control of underactuated ships with elliptical shape approximation and limited communication ranges |
| title | Formation control of underactuated ships with elliptical shape approximation and limited communication ranges |
| title_full | Formation control of underactuated ships with elliptical shape approximation and limited communication ranges |
| title_fullStr | Formation control of underactuated ships with elliptical shape approximation and limited communication ranges |
| title_full_unstemmed | Formation control of underactuated ships with elliptical shape approximation and limited communication ranges |
| title_short | Formation control of underactuated ships with elliptical shape approximation and limited communication ranges |
| title_sort | formation control of underactuated ships with elliptical shape approximation and limited communication ranges |
| topic | Potential functions Collision avoidance Elliptical disks Formation control Underactuated ships |
| url | http://hdl.handle.net/20.500.11937/7320 |