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Control Strategies of Swarm Vessels for Circling Mission in Calm Water

Ghasemzade Ahrami, Abbas | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 48172 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyadi, Hassan
  7. Abstract:
  8. Control of a group of autonomous surface vessels with realistic dynamic for circling mission is distributed with the aid of Lyaponov and graph theory. in this brief, to obtain a cooperative controller, new coordination transfer are presented and graph theory is used to illustrate the communication between the agents. With the aid of Lyaponov theory and graph application, Decentralized and scalable controllers are designed for group of autonomous vessels to converge to desired geometry to circling a specific target. Because of the realistic dynamics, Non-Holonmic dynamics and turning constrains of the vessels are considered in the design process. The advantage of proposed controller is: it uses the relative information between agents and the controller is designed based on these information. The method presented differ from the other approaches in that the agents herein represent a large class of autonomous vessels with realistic limitation on vessel motion. As well as, in previous works, the inertia and damping matrix of the agents were diagonal and constant, however, in this work, Non-diagonal Inertia matrix and variable damping matrix are considered. MATLAB and Simulink are used to represent the effectiveness of the proposed controllers. As the simulation results show, the design controllers performed well on the system and the objective duty is achieved
  9. Keywords:
  10. Nonlinear Control ; Dynamics Models ; Marine Vehicle ; Multiagent System ; Ship Dynamic ; Swarm Vessels

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