Original Research ARTICLE
Robust Cooperative Moving Path Following Control for Marine Robotic Vehicles
- 1Faculty of Engineering, University of Porto, Portugal
This paper presents results on recent developments pertaining to the coordinated motion control of a fleet of marine robotic vehicles. Specifically, we address the Cooperative Moving Path Following (CMPF) motion control problem, that consists of steering the robotic vehicles along a priori specified geometric paths that jointly move according to a target frame, while achieving a pre-defined coordination objective. To this end, each vehicle will need to communicate with their neighbors in order to cooperatively solve the CMPF task. Two distinct robust Moving Path Following motion control strategies for achieving robustness on the moving path following tasks are proposed. Experimental results demonstrating the application of CMPF to marine vehicles in the context of source localization and tracking of underwater targets are presented backed with stability and convergence guarantees.
Keywords: Marine robotics, Cooperative Control, Moving Path Following, robust control, Disturbance compensation
Received: 16 May 2019;
Accepted: 04 Nov 2019.
Copyright: © 2019 Reis, Jain, Aguiar and de Sousa. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
* Correspondence: Mr. Matheus Reis, Faculty of Engineering, University of Porto, Porto, 4200-465, Portugal, firstname.lastname@example.org