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

自动化科学与电气工程学院

Beihang University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

6 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
出版商	Institute of Electrical and Electronics Engineers Inc.
页	279-284
页数	6
版本	March
ISBN（电子版）	9781479958252
DOI	https://doi.org/10.1109/WCICA.2014.7052727
出版状态	已出版 - 2 3月 2015
活动	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 - Shenyang, 中国期限: 29 6月 2014 → 4 7月 2014

出版系列

姓名	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
编号	March
卷	2015-March

会议

会议	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
国家/地区	中国
市	Shenyang
时期	29/06/14 → 4/07/14

访问文件

10.1109/WCICA.2014.7052727

其它文件与链接

链接到 Scopus 的出版物

引用此

Chen, Y., & Ma, B. (2015). Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices. 在 Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014 (March 编辑, 页码 279-284). 文章 7052727 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); 卷 2015-March, 号码 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. 编辑 Institute of Electrical and Electronics Engineers Inc., 2015. 页码 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. 在 Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March 编辑, 7052727, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 号码 March, 卷 2015-March, Institute of Electrical and Electronics Engineers Inc., 页码 279-284, 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014, Shenyang, 中国, 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. 编辑 Institute of Electrical and Electronics Engineers Inc., 2015. 页码 279-284 7052727 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); 卷 2015-March, 号码 March).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices

AU - Chen, Yuchan

AU - Ma, Baoli

PY - 2015/3/2

Y1 - 2015/3/2

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.

KW - Formation control

KW - Multiple underactuated surface ships

KW - Non-diagonal inertia and damping matrices

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U2 - 10.1109/WCICA.2014.7052727

DO - 10.1109/WCICA.2014.7052727

M3 - 会议稿件

AN - SCOPUS:84932183006

T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

SP - 279

EP - 284

BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014

Y2 - 29 June 2014 through 4 July 2014

ER -

Chen Y, Ma B. Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices. 在 Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March 编辑 Institute of Electrical and Electronics Engineers Inc. 2015. 页码 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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