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Volume 1 Issue 4
Oct.  2014

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2014  >  1(4): 337-346
Yangyang Chen and Ping Wei, "Coordinated Adaptive Control for Coordinated Path-following Surface Vessels with a Time-invariant Orbital Velocity," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 4, pp. 337-346, 2014.
Citation: Yangyang Chen and Ping Wei, "Coordinated Adaptive Control for Coordinated Path-following Surface Vessels with a Time-invariant Orbital Velocity," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 4, pp. 337-346, 2014.
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Coordinated Adaptive Control for Coordinated Path-following Surface Vessels with a Time-invariant Orbital Velocity

  • 1. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing 210096, China;

  • 2. Department of Electronic Information Engineering, Anhui Business College, Wuhu 241002, China

Funds:

This work was supported by National Natural Science Foundation of China (61203356, 61374069), Doctoral Fund of Ministry of Education of China (20110092120025), and the Open Fund of Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education (MCCSE2014B01).

    Abstract
  • This article considers the problem of directing a family of fully actuated surface vessels to cooperatively follow a set of convex and closed orbits with a time-invariant reference orbital velocity and maintain attitude synchronization. A consensusbased adaptive control law under a bidirectional communication topology is proposed to estimate the reference orbital velocity so that the restriction that every vessel in the family must have access to the reference in the previous literature can be removed. The assumption of nonzero total linear speed of each vessel is removed by the use of potential function. Simulation results demonstrate the effectiveness of the proposed approach.

     

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