@inproceedings{e92c002c7e4140f588cbd240f37393f2,
title = "Receding horizon formation control of nonholonomic autonomous underwater vehicles",
abstract = "The cooperative control of marine vehicles finds many applications in a variety of marine missions and tasks. This paper investigates the receding horizon formation control problem of a feet of nonholonomic autonomous underwater vehicles (AUVs), in which the follower AUVs are required to keep a prescribed formation pattern with respect to the leader one. A novel optimization problem and a new receding horizon control (RHC) algorithm are proposed. Results on the feasibility of the receding horizon formation algorithm and on the stability of the closed-loop systems are provided. Simulation studies for the formation-keeping control of the nonholonomic AUVs are carried out, and the simulation results verifies the effectiveness of the proposed algorithm.",
keywords = "Autonomous underwater vehicles (AUVs), formation control, nonholonomic systems, receding horizon control (RHC), tracking control",
author = "Huiping Li and Yang Shi and Weisheng Yan",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7554308",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "6062--6067",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
}
