A leader-follower formation control strategy for AUVs based on line-of-sight guidance

Yintao Wang, Weisheng Yan, Wei Yan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

31 Scopus citations

Abstract

In order to resolve the formation tracking problem of cooperative control of multiple Autonomous Underwater Vehicles (AUVs), a variable structure control law was proposed to keep the AUVs track along the predefined trajectory by minimizing the cross track error, which is calculated from the line-of-sight angle. Furthermore, a mathematical model for the formation based on leader-follower was established and the relative formation control strategy based on feedback linearization was derived. Simulation results show that the proposed approach is feasible and the effect of formation tracking can be expressed visually.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Pages4863-4867
Number of pages5
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 - Changchun, China
Duration: 9 Aug 200912 Aug 2009

Publication series

Name2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

Conference

Conference2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Country/TerritoryChina
CityChangchun
Period9/08/0912/08/09

Keywords

  • AUVs
  • Feedback linearization
  • Formation tracking
  • Line-of-sight

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