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    Robust consensus of autonomous underactuated surface vessels

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    Date
    2017
    Author
    Mirzaei, Morteza
    Meskin, Nader
    Abdollahi, Farzaneh
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    Abstract
    A distributed robust consensus of multiple autonomous underactuated surface vessels (AUSV) is studied in the presence of unknown environmental disturbances. The vehicles have 3 degrees of freedom and two actuators. Since the actuated and unactuated states of the vehicles are strongly coupled, first their kinematics and dynamics are transformed to a cascade non-linear system. Then, based on the properties of non-linear cascade systems, a state-based switching controller is proposed which guarantees the robust consensus of AUSVs. To illustrate the performance of the proposed consensus approach, simulation results are provided.
    DOI/handle
    http://dx.doi.org/10.1049/iet-cta.2016.0930
    http://hdl.handle.net/10576/17583
    Collections
    • Electrical Engineering [‎2821‎ items ]

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