Formation Path Following Control of Underactuated USVs -- With Proofs

2020/11/10 by Eek, Å., Pettersen, K. Y., Ruud, E. -L. M. +1
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.2011.05021

Abstract

This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the null-spacebased behavioral control (NSB) framework, we achieve curved path following of the barycenter, while maintaining the desired vessel formation. The closed-loop dynamics are investigated using cascaded systems theory, and it is shown that the closed-loop system is USGES and UGAS, while the underactuated sway dynamics remains bounded. Both simulation and experimental results are presented to verify the theoretical results.

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