@inproceedings{463faf7db98943e7bd3c76c45173b945,
title = "Decentralized Formation Control of Multiple Autonomous Underwater Vehicles with Input Saturation Using RISE Feedback Method",
abstract = "Decentralized formation control for multiple autonomous underwater vehicles (AUVs) with input saturation is discussed in this paper. In the assumed group communication, each AUV can only obtain information from its adjacent neighbors in the specified communication topology, and only a subset of the AUVs can access the desired trajectory. A robust integral of the sign of the error (RISE) feedback based distributed controller with an anti-windup compensator is proposed so that all group members ultimately synchronize and achieve the desired formation. Based on Lyapunov theory, it is proven that the formation error of each AUV converges to zero. Finally, a simulation example demonstrates the effectiveness of the algorithm.",
keywords = "Anti-windup, Formation control, RISE feedback",
author = "Dong Cui and Brendan Englot and Rongxin Cui and Demin Xu",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 ; Conference date: 22-10-2018 Through 25-10-2018",
year = "2019",
month = jan,
day = "7",
doi = "10.1109/OCEANS.2018.8604743",
language = "英语",
series = "OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018",
}
