Coordinated path-following control for a group of underactuated surface vessels / Ghommam, Jawhar in IEEE transactions on industrial electronics, Vol. 56 N° 10 (Octobre 2009)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3951 - 3963 Titre : Coordinated path-following control for a group of underactuated surface vessels Type de document : texte imprimé Auteurs : Ghommam, Jawhar, Auteur ; Mnif, Faïçal, Auteur Article en page(s) : pp. 3951 - 3963 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Backstrepping technique Coordination conrol Graph theory Lyapunov Path following Time delay Underactuated ships Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : This paper addresses the problem of coordinating a group of underactuated ships along given paths (path following) while holding a desired intership formation pattern. The solution to this problem unfolds into two basic subproblems. In the first step, a path-following controller is derived to force each underactuated ship to follow a reference path subject to constant disturbances induced by wave, wind, and ocean current. The controller is designed such that the ship moves on the path while its total velocity is maintained tangential to the path. In the second step, the speeds of the vehicles are adjusted so as to synchronize the positions of the corresponding virtual targets (or so-called coordination states), in the sense that the derivative of each path is left as a free input to synchronize the ships' motion. The proposed coordination controller uses a combination of Lyapunov direct method, backstepping, and concepts from graph theory. When dealing with the path-following coordination problem, it is considered that each ship transmits its coordination state to other ships with a varying time delay as determined by the communication topology. The coordination errors' convergence is achieved based on a proposed Lyapunov-Krasovskii function. Simulation results are provided to illustrate the effectiveness of the proposed approach. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5191077 [article] Coordinated path-following control for a group of underactuated surface vessels [texte imprimé] / Ghommam, Jawhar, Auteur ; Mnif, Faïçal, Auteur . - pp. 3951 - 3963. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3951 - 3963 Mots-clés : Backstrepping technique Coordination conrol Graph theory Lyapunov Path following Time delay Underactuated ships Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : This paper addresses the problem of coordinating a group of underactuated ships along given paths (path following) while holding a desired intership formation pattern. The solution to this problem unfolds into two basic subproblems. In the first step, a path-following controller is derived to force each underactuated ship to follow a reference path subject to constant disturbances induced by wave, wind, and ocean current. The controller is designed such that the ship moves on the path while its total velocity is maintained tangential to the path. In the second step, the speeds of the vehicles are adjusted so as to synchronize the positions of the corresponding virtual targets (or so-called coordination states), in the sense that the derivative of each path is left as a free input to synchronize the ships' motion. The proposed coordination controller uses a combination of Lyapunov direct method, backstepping, and concepts from graph theory. When dealing with the path-following coordination problem, it is considered that each ship transmits its coordination state to other ships with a varying time delay as determined by the communication topology. The coordination errors' convergence is achieved based on a proposed Lyapunov-Krasovskii function. Simulation results are provided to illustrate the effectiveness of the proposed approach. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5191077

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Nonsingular Serret–Frenet based path following control for an underactuated surface vessel / Ghommam, Jawhar in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 131 N°2 (Mars/Avril 2009)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N°2 (Mars/Avril 2009) . - 08 p. Titre : Nonsingular Serret–Frenet based path following control for an underactuated surface vessel Type de document : texte imprimé Auteurs : Ghommam, Jawhar, Auteur ; Mnif, Faïçal, Auteur ; Abederraouf Benali, Auteur Année de publication : 2009 Article en page(s) : 08 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : underactuated surface vessel  new control law  Serret–Frenet formulation  path following  Lyapunov direct method  backstepping technique Résumé : In this paper we develop a new control law to steer an underactuated surface vessel along a predefined path at a constant forward speed controlled by the main thruster system. The methodology is based on the Serret–Frenet formulation to represent the ship kinematics in terms of path parameters, which allows for convenient definition of cross and along track error. Furthermore, our approach for path following overcomes the stringent initial condition constraints. This paper also addresses the path following with environmental disturbances induced by wave, wind, and ocean-current. The proposed controller is designed based on the Lyapunov direct method and backstepping technique. The closed loop path following errors is proven to be uniform ultimate bounded. Results are demonstrated by high fidelity simulation. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Nonsingular Serret–Frenet based path following control for an underactuated surface vessel [texte imprimé] / Ghommam, Jawhar, Auteur ; Mnif, Faïçal, Auteur ; Abederraouf Benali, Auteur . - 2009 . - 08 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N°2 (Mars/Avril 2009) . - 08 p. Mots-clés : underactuated surface vessel  new control law  Serret–Frenet formulation  path following  Lyapunov direct method  backstepping technique Résumé : In this paper we develop a new control law to steer an underactuated surface vessel along a predefined path at a constant forward speed controlled by the main thruster system. The methodology is based on the Serret–Frenet formulation to represent the ship kinematics in terms of path parameters, which allows for convenient definition of cross and along track error. Furthermore, our approach for path following overcomes the stringent initial condition constraints. This paper also addresses the path following with environmental disturbances induced by wave, wind, and ocean-current. The proposed controller is designed based on the Lyapunov direct method and backstepping technique. The closed loop path following errors is proven to be uniform ultimate bounded. Results are demonstrated by high fidelity simulation. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

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