Abstract
The Leader-Follower formation model was established in order to resolve the formation cooperation problem of Autonomous Underwater Vehicles (AUVs). Then the formation control law was designed. The stability of the control law was proved in theory. In order to show the efficiency of the formation control, the visual simulation model of AUV formation control was established using Simulink and VRML toolbox which supplied by MATLAB. Simulation results show the efficiency of the formation control law that proposed above. The simulation platform expresses the formation of AUVs visually, and it is easy to be expanded and can validate the other formation control law.
| Original language | English |
|---|---|
| Pages (from-to) | 2881-2884+2894 |
| Journal | Xitong Fangzhen Xuebao / Journal of System Simulation |
| Volume | 19 |
| Issue number | 13 |
| State | Published - 5 Jul 2007 |
Keywords
- Autonomous Underwater Vehicle
- Cooperative control
- Formation control
- Visual Simulation