한국해양공학회지 (Journal of Ocean Engineering and Technology)

  • 제28권4호
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  • Pages.363-369
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  • 2014
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  • 1225-0767(pISSN)
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  • 2287-6715(eISSN)
한국해양공학회 (Korean Society of Ocean Engineers)
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Lyapunov 재설계 방법을 이용한 무인 수상정의 군집 제어

Formation Control for Unmanned Surface Vessels Using Lyapunov Redesign Method

  • Woo, Sangbum (Samsung Electronics) ;
  • Lee, Jaeyong (Department of Naval Architecture and Ocean Engineering, Dong-Eui University)
  • 투고 : 2013.12.17
  • 심사 : 2014.08.19
  • 발행 : 2014.08.30
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초록

In this paper, a practical controller for a group of USVs is proposed in order to avoid matrix inversion problems in computation. Using nonlinear mapping, a formation composed of nonholonomic agents can be stabilized even when the formation is stationary. Since there is no matrix inversion in computing the control law, the computation complexity can be resolved. A controller for stabilizing the formation errors in the presence of model uncertainty is considered using the Lyapunov redesign method. The asymptotic stability of the formation errors is shown. It is also shown that the proposed controller can be applied to guide a formation to a different shape without modification.

키워드

참고문헌

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