Receding horizon formation control of nonholonomic autonomous underwater vehicles

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

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.

源语言英语
主期刊名Proceedings of the 35th Chinese Control Conference, CCC 2016
编辑Jie Chen, Qianchuan Zhao, Jie Chen
出版商IEEE Computer Society
6062-6067
页数6
ISBN(电子版)9789881563910
DOI
出版状态已出版 - 26 8月 2016
活动35th Chinese Control Conference, CCC 2016 - Chengdu, 中国
期限: 27 7月 201629 7月 2016

出版系列

姓名Chinese Control Conference, CCC
2016-August
ISSN(印刷版)1934-1768
ISSN(电子版)2161-2927

会议

会议35th Chinese Control Conference, CCC 2016
国家/地区中国
Chengdu
时期27/07/1629/07/16

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