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Formation Control of Under-Actuated Robotic Boats

[+] Author Affiliations
Farbod Fahimi

University of Alberta

S. V. Sudhil Rineesh, C. Nataraj

Villanova University

Paper No. IMECE2005-81561, pp. 1607-1615; 9 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


Feedback control laws for controlling multiple robotic boats in arbitrary formations are proposed. The presented formation control method uses only local sensor-based information. The method of input-output linearization has been used to exponentially stabilize the relative distance and orientation of neighboring boats with a three-degree-of-freedom dynamic model. It is shown that the internal dynamics of the system is also stable. The use of these control laws is demonstrated by computer simulations. These controllers can be utilized to control an arbitrarily large number of robotic boats moving in very general formations.

Copyright © 2005 by ASME
Topics: Robotics , Boats



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