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.
Document type :
Conference papers
2011 American Control Conference - ACC 2011, Jun 2011, San Francisco, Californie, United States. pp.6, 2011


https://hal.archives-ouvertes.fr/hal-00584382
Contributor : Carlos Canudas de Wit <>
Submitted on : Monday, April 11, 2011 - 3:36:14 PM
Last modification on : Monday, October 5, 2015 - 4:58:48 PM
Document(s) archivé(s) le : Tuesday, July 12, 2011 - 2:36:05 AM

File

Elastic_Formation_Control_base...
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00584382, version 1

Collections

Citation

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

Export

Share

Metrics

Record views

460

Document downloads

124