Coordinated Control of a Reconfigurable Multi-Vessel Platform: Robust Control Approach
Name
coordinated_control-1.pdf
Description
Accepted version
Size
3.76 MB
Format
Adobe PDF
Checksum (MD5)
60d8c80032d2508869cb7149fccb3816
Author(s)
Park, Shinkyu
Kayacan, Erkan
Ratti, Carlo
Rus, Daniela L
Date Issued
August 2019
Journal
IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Park, Shinkyu, Kayacan, Erkan, Ratti, Carlo and Rus, Daniela L. 2019. "Coordinated Control of a Reconfigurable Multi-Vessel Platform: Robust Control Approach." IEEE International Conference on Robotics and Automation, 2019-May.
Version
Author's final manuscript
Abstract
© 2019 IEEE. We propose a feedback control system for a reconfigurable multi-vessel platform. The platform consists of N propeller-driven vessels each of which is capable of latching to another vessel to form a rigid body of connected vessels. The main technical challenges are that i) depending on configurations of the platform the dynamic model would be different, and ii) the number of control variables in control system design increases as does the total number of vessels in the platform. To address these challenges, we develop a coordinated robust control scheme. Through experiments we assess trajectory tracking and disturbance attenuation performance of the control scheme in various configurations of the platform. Experiment results yield that average position and orientation tracking error are approximately 0.09m and 3°, and the maximum tracking error-to-disturbance ratio is 1.12.
MIT Department
Senseable City Laboratory
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA.2019.8794075
