Print Email Facebook Twitter Distributed Leader-Follower Formation Control for Autonomous Vessels based on Model Predictive Control Title Distributed Leader-Follower Formation Control for Autonomous Vessels based on Model Predictive Control Author van Pampus, M.J. (Student TU Delft; Amsterdam Institute for Advanced Metropolitan Solutions (AMS)) Haseltalab, A. (TU Delft Transport Engineering and Logistics) Garofano, V. (TU Delft Transport Engineering and Logistics) Reppa, V. (TU Delft Transport Engineering and Logistics) Deinema, Y.H. (Amsterdam Institute for Advanced Metropolitan Solutions (AMS)) Negenborn, R.R. (TU Delft Transport Engineering and Logistics) Date 2021 Abstract Formation control of autonomous surface vessels (ASVs) has been studied extensively over the last few years since it offers promising advantages. In this paper, two control methods for distributed leader-follower formation control are proposed: A Nonlinear Model Predictive Control (MPC) method and an MPC method using Feedback Linearization. One agent per vessel performs planning and control. The agents exchange information on their current and predicted positions. The two proposed methods are compared with each other and also with a conventional Proportional-Integral (PI) control method. The performance of the proposed strategies is evaluated through simulations and field experiments using small scale vessels. The simulation and field experiment results show that the proposed MPC-based approaches outperform the conventional PI control method. Subject Autonomous surface vesselsmodel predictive controlfeedback linearizationformation control To reference this document use: http://resolver.tudelft.nl/uuid:957bf093-5bc9-48bf-b087-8bc499f0f7f8 DOI https://doi.org/10.23919/ECC54610.2021.9654989 Publisher IEEE Embargo date 2022-07-03 ISBN 978-1-6654-7945-5 Source Proceedings of the European Control Conference (ECC 2021) Event 2021 European Control Conference (ECC), 2021-06-29 → 2021-07-02, Virtual , Netherlands Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type conference paper Rights © 2021 M.J. van Pampus, A. Haseltalab, V. Garofano, V. Reppa, Y.H. Deinema, R.R. Negenborn Files PDF Distributed_Leader_Follow ... ontrol.pdf 2.8 MB Close viewer /islandora/object/uuid:957bf093-5bc9-48bf-b087-8bc499f0f7f8/datastream/OBJ/view