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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Communication dans un congrès
2011 American Control Conference - ACC 2011, Jun 2011, San Francisco, Californie, United States. pp.6, 2011


https://hal.archives-ouvertes.fr/hal-00584382
Contributeur : Carlos Canudas de Wit <>
Soumis le : lundi 11 avril 2011 - 15:36:14
Dernière modification le : lundi 5 octobre 2015 - 16:58:48
Document(s) archivé(s) le : mardi 12 juillet 2011 - 02:36:05

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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>

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