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Elastic Formation Control Based on Affine Transformations

Abstract : 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.
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Contributor : Carlos Canudas de Wit <>
Submitted on : Monday, April 11, 2011 - 3:36:14 PM
Last modification on : Wednesday, May 13, 2020 - 4:16:01 PM
Document(s) archivé(s) le : Tuesday, July 12, 2011 - 2:36:05 AM


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  • HAL Id : hal-00584382, version 1


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



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