Elastic Formation Control Based on Affine Transformations

Lara Briñon Arranz (1, 2) , Alexandre Seuret (1, 2) , Carlos Canudas de Wit (1)

1 NECS - Networked Controlled Systems
2 GIPSA-lab - Grenoble Images Parole Signal Automatique

This paper deals with the control of a fleet of nonlinear systems representing AUVs (autonomous underwater vehicles). The purpose is here to design a control law to stabilize the fleet to time-varying formations which are not only circular. A novel framework is proposed to express a general control law for a large class of formations. This is produced by applying a sequence of affine transformations such as translations, rotations and scalings. The paper also includes a cooperative control to distribute the agents along the formation which takes into account the communication constraints. The system was implemented in computer simulation, accessible through Web.

Domaines: Automatique / Robotique

Lara Briñon Arranz, Alexandre Seuret, Carlos Canudas de Wit. Elastic Formation Control Based on Affine Transformations. ACC 2011 - American Control Conference, Jun 2011, San Francisco, Californie, United States. pp.6. ⟨hal-00584382⟩