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
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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. Proceedings of the 2011 American Control Conference, pp.6, 2011. 〈hal-00584382〉



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