Advanced SearchSearch Tips
Formation Control for Unmanned Surface Vessels Using Lyapunov Redesign Method
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Formation Control for Unmanned Surface Vessels Using Lyapunov Redesign Method
Woo, Sangbum; Lee, Jaeyong;
  PDF(new window)
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.
Lyapunov redesign;Formation control;
 Cited by
Arrichiello, F., Chiaverini, S., Fossen, T.I., 2006. Formation Control of Underactuated Surface Vessels using the Null-Space-Based Behavioral Control, Proceeding of IEEE Int. Conf. on Intelligent Robots and Systems.

Astolfi, A., 1999. Exponential Stabilization of a Wheeled Mobile Robot via Discontinuous Control. Journal of Dynamic Systems, Measurement, and Control, 121, 121-126. crossref(new window)

Badreddin, E., Mansour, M., 1993. Fuzzy-tuned State Feedback Control of a Nonholonomic Mobile Robot. IFAC World Congress, Sydney Australia, 6, 577-580.

Balch, T., Arkin, R.C., 1998. Behavior-Based Formation Control for Multirobot Teams. IEEE Transactions on Robotics and Automation, 14(6), 926-939. crossref(new window)

Breivik, M., Hovstein, V.E., Fossen, T.I., 2008. Ship Formation Control: A Guided Leader-Follower Approach. Proceeding of IFAC World Congress, 16008-16014.

Brockett, R.W., 1983. Asymptotic Stability and Feedback Stabilization. in Differential Geometric Control Theory. Birkhauser, Boston, Massachusetts, 181-191.

Das, A.K., Fierro, R., Kumar, V., Ostrowski, J.P., Spletzer, J., Taylor, C.J., 2002. A Vision-Based Formation Control Framework. IEEE Transactions on Robotics and Automation. 18(5), 813-825. crossref(new window)

Desai, J.P., Ostrowski, J.P., Kumar, V., 2001. Modeling and Control of Formations of Nonholonomic Mobile Robots. 17(6), 905-908. crossref(new window)

de Wit, C.C., Sørdalen, O.J., 1992. Exponential Stabilization of Mobile Robots with Nonholonomic Constraints. IEEE Transactions on Automatic Control, 37(11), 1791-1797. crossref(new window)

Egerstedt, M. and Hu, X., 2001. Formation Constrained Multi-Agent Control. IEEE Transactions on Robotics and Automation, 17(6), 947-951. crossref(new window)

Khalil, H.K., 2002. Nonlinear Systems. 3rd Edition, Prentice Hall, Upper Saddle River, New Jersey.

Lewis, M.A., Tan, K.H., 1997. High Precision formation Control of Mobile Robots Using Virtual Structures. Autonomous Robots, 4(4), 387-403. crossref(new window)

Lim, J.H., Kang, C.U., Kim, S.K., 2005. A Study on a 3-D Localization of a AUV Based on a Mother Ship. Journalof Ocean Engineering and Technology, 19(2), 74-81.

Makrinos, S.T., 2004. United States Port Security in the War on Terrorism. Sea Technology, 45(3), 33-34.

US NAVY, 2007. The Navy Unmanned Surface Vehicle (USV) Master Plan. [Online] Available at: [Accessed 31 Dec. 2013].

Sadowska, A., Broek, T.v.d., Huijberts, H., Wouw, N.v.d., Kostic, D., Nijmeijer, H., 2011. A virtual structure approach to formation control of unicyle mobile robots using mutual coupling. International Journal of Control, 84(11), 1886-1902. crossref(new window)

Xiang, X. Lapierre, L., Bruno, J., Parodi, O., 2010. Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection. International Journal of Advanced Robotic Systems. 7(1), 75-84.