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Elastic Formation Control Based on Affine Transformations

Abstract : This paper deals with the control of a fleet of nonlinear systems representing AUVs (autonomous underwater vehicles). The purpose is here to design a control law to stabilize the fleet to time-varying formations which are not only circular. A novel framework is proposed to express a general control law for a large class of formations. This is produced by applying a sequence of affine transformations such as translations, rotations and scalings. The paper also includes a cooperative control to distribute the agents along the formation which takes into account the communication constraints. The system was implemented in computer simulation, accessible through Web.
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https://hal.archives-ouvertes.fr/hal-00584382
Contributor : Carlos Canudas de Wit <>
Submitted on : Monday, April 11, 2011 - 3:36:14 PM
Last modification on : Friday, June 4, 2021 - 1:22:04 PM
Long-term archiving on: : Tuesday, July 12, 2011 - 2:36:05 AM

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  • HAL Id : hal-00584382, version 1

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Lara Briñon Arranz, Alexandre Seuret, Carlos Canudas de Wit. Elastic Formation Control Based on Affine Transformations. ACC 2011 - American Control Conference, Jun 2011, San Francisco, Californie, United States. pp.6. ⟨hal-00584382⟩

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