Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices

Yuchan Chen; Baoli Ma

doi:10.1109/WCICA.2014.7052727

Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices

Yuchan Chen
, Baoli Ma

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

In this work, we investigate the full state formation control problem of multiple underactuated surface ships with non-diagonal inertia and damping matrices. By combining the input/state transformations and the nonlinear time-varying tools, a formation controller is derived guaranteeing that the position and orientation states of all the ships globally asymptotically converge to the desired stationary geometric formation pattern under the scenarios of fixed communication graph with a spanning tree, and the velocities of ships tend to zero. Simulation examples are given to illustrate the effectiveness of the proposed control scheme.

Original language	English
Title of host publication	Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	279-284
Number of pages	6
Edition	March
ISBN (Electronic)	9781479958252
DOIs	https://doi.org/10.1109/WCICA.2014.7052727
State	Published - 2 Mar 2015
Event	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 - Shenyang, China Duration: 29 Jun 2014 → 4 Jul 2014

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Number	March
Volume	2015-March

Conference

Conference	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
Country/Territory	China
City	Shenyang
Period	29/06/14 → 4/07/14

Keywords

Formation control
Multiple underactuated surface ships
Non-diagonal inertia and damping matrices

Access to Document

10.1109/WCICA.2014.7052727

Cite this

Chen, Y., & Ma, B. (2015). Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices. In Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014 (March ed., pp. 279-284). Article 7052727 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2015-March, No. March). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WCICA.2014.7052727

Chen, Yuchan ; Ma, Baoli. / Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices. Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 279-284 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); March).

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title = "Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices",

abstract = "In this work, we investigate the full state formation control problem of multiple underactuated surface ships with non-diagonal inertia and damping matrices. By combining the input/state transformations and the nonlinear time-varying tools, a formation controller is derived guaranteeing that the position and orientation states of all the ships globally asymptotically converge to the desired stationary geometric formation pattern under the scenarios of fixed communication graph with a spanning tree, and the velocities of ships tend to zero. Simulation examples are given to illustrate the effectiveness of the proposed control scheme.",

keywords = "Formation control, Multiple underactuated surface ships, Non-diagonal inertia and damping matrices",

author = "Yuchan Chen and Baoli Ma",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 ; Conference date: 29-06-2014 Through 04-07-2014",

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Chen, Y & Ma, B 2015, Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices. in Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March edn, 7052727, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), no. March, vol. 2015-March, Institute of Electrical and Electronics Engineers Inc., pp. 279-284, 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014, Shenyang, China, 29/06/14. https://doi.org/10.1109/WCICA.2014.7052727

Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices. / Chen, Yuchan; Ma, Baoli.
Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 279-284 7052727 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2015-March, No. March).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - In this work, we investigate the full state formation control problem of multiple underactuated surface ships with non-diagonal inertia and damping matrices. By combining the input/state transformations and the nonlinear time-varying tools, a formation controller is derived guaranteeing that the position and orientation states of all the ships globally asymptotically converge to the desired stationary geometric formation pattern under the scenarios of fixed communication graph with a spanning tree, and the velocities of ships tend to zero. Simulation examples are given to illustrate the effectiveness of the proposed control scheme.

AB - In this work, we investigate the full state formation control problem of multiple underactuated surface ships with non-diagonal inertia and damping matrices. By combining the input/state transformations and the nonlinear time-varying tools, a formation controller is derived guaranteeing that the position and orientation states of all the ships globally asymptotically converge to the desired stationary geometric formation pattern under the scenarios of fixed communication graph with a spanning tree, and the velocities of ships tend to zero. Simulation examples are given to illustrate the effectiveness of the proposed control scheme.

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Chen Y, Ma B. Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices. In Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 279-284. 7052727. (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); March). doi: 10.1109/WCICA.2014.7052727

Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices

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