Coordinated Adaptive Control for Collective Motion on Level Curves with a Time-Invariant Orbital Velocity

CHEN Yang-Yang; TIAN Yu-Ping

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Coordinated Adaptive Control for Collective Motion on Level Curves with a Time-Invariant Orbital Velocity

CHEN Yang-Yang,TIAN Yu-Ping *

School of Automation, Southeast University, Nanjing 210096

*Correspondence author

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Funding: Doctoral Fund of Ministry of Education of China （No.20110092120025）, National Natural Science Foundation（No.61203356,61273110,61105113,60934006）

Opened online:31 January 2013

Accepted by: none

Citation: CHEN Yang-Yang,TIAN Yu-Ping.Coordinated Adaptive Control for Collective Motion on Level Curves with a Time-Invariant Orbital Velocity[OL]. [31 January 2013] http://en.paper.edu.cn/en_releasepaper/content/4516334

This paper develops a distributed strategy that stabilizescollective motion in fully actuated models of multiple surfacevessels that travel on given convex loops and approach a time-invariant reference orbital velocity. Aconsensus-based adaptive control law under the bidirectionalcommutation topology is proposed to estimate the desired orbitalvelocity so that the restriction that every vehicle in the familyhas access to the reference in the literature is removed. Theassumption of nonzero linear speed of each vessel is avoided by introducing apotential function. An simulation example is presented as a proof ofconcept.

Keywords:Coordinated Adaptive Control; Collective Motion; Fully-Actuated Surface Vessels

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