Leader-follower formation control of underactuated AUVS with leader position measurement

Rongxin Cui; Shuzhi Sam Ge; Bernard Voon Ee How; Yoo Sang Choo

doi:10.1109/ROBOT.2009.5152566

Leader-follower formation control of underactuated AUVS with leader position measurement

Rongxin Cui
, Shuzhi Sam Ge
, Bernard Voon Ee How
, Yoo Sang Choo

National University of Singapore

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

44 Scopus citations

Abstract

In this paper, we investigate the leader-follower formation control of underactuated Autonomous Underwater Vehicles (AUVs). By using position measurements from the leader, we design a virtual vehicle such that the trajectory of the virtual vehicle converges to the reference trajectory of the follower. A position tracking control is designed for the follower to track the virtual vehicle using Lyapunov and backstepping synthesis. Simulation results demonstrated the effectiveness ofthe proposed scheme.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages	979-984
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2009.5152566
State	Published - 2009
Externally published	Yes
Event	2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan Duration: 12 May 2009 → 17 May 2009

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/Territory	Japan
City	Kobe
Period	12/05/09 → 17/05/09

Access to Document

10.1109/ROBOT.2009.5152566

Cite this

@inproceedings{eb6ace70f72b4d2fbfd62a770b58c6f2,

title = "Leader-follower formation control of underactuated AUVS with leader position measurement",

abstract = "In this paper, we investigate the leader-follower formation control of underactuated Autonomous Underwater Vehicles (AUVs). By using position measurements from the leader, we design a virtual vehicle such that the trajectory of the virtual vehicle converges to the reference trajectory of the follower. A position tracking control is designed for the follower to track the virtual vehicle using Lyapunov and backstepping synthesis. Simulation results demonstrated the effectiveness ofthe proposed scheme.",

author = "Rongxin Cui and Ge, \{Shuzhi Sam\} and \{Ee How\}, \{Bernard Voon\} and Choo, \{Yoo Sang\}",

year = "2009",

doi = "10.1109/ROBOT.2009.5152566",

language = "英语",

isbn = "9781424427895",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "979--984",

booktitle = "2009 IEEE International Conference on Robotics and Automation, ICRA '09",

note = "2009 IEEE International Conference on Robotics and Automation, ICRA '09 ; Conference date: 12-05-2009 Through 17-05-2009",

}

Cui, R, Ge, SS, Ee How, BV & Choo, YS 2009, Leader-follower formation control of underactuated AUVS with leader position measurement. in 2009 IEEE International Conference on Robotics and Automation, ICRA '09., 5152566, Proceedings - IEEE International Conference on Robotics and Automation, pp. 979-984, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 12/05/09. https://doi.org/10.1109/ROBOT.2009.5152566

Leader-follower formation control of underactuated AUVS with leader position measurement. / Cui, Rongxin; Ge, Shuzhi Sam; Ee How, Bernard Voon et al.
2009 IEEE International Conference on Robotics and Automation, ICRA '09. 2009. p. 979-984 5152566 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Leader-follower formation control of underactuated AUVS with leader position measurement

AU - Cui, Rongxin

AU - Ge, Shuzhi Sam

AU - Ee How, Bernard Voon

AU - Choo, Yoo Sang

PY - 2009

Y1 - 2009

N2 - In this paper, we investigate the leader-follower formation control of underactuated Autonomous Underwater Vehicles (AUVs). By using position measurements from the leader, we design a virtual vehicle such that the trajectory of the virtual vehicle converges to the reference trajectory of the follower. A position tracking control is designed for the follower to track the virtual vehicle using Lyapunov and backstepping synthesis. Simulation results demonstrated the effectiveness ofthe proposed scheme.

AB - In this paper, we investigate the leader-follower formation control of underactuated Autonomous Underwater Vehicles (AUVs). By using position measurements from the leader, we design a virtual vehicle such that the trajectory of the virtual vehicle converges to the reference trajectory of the follower. A position tracking control is designed for the follower to track the virtual vehicle using Lyapunov and backstepping synthesis. Simulation results demonstrated the effectiveness ofthe proposed scheme.

UR - https://www.scopus.com/pages/publications/70350365093

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DO - 10.1109/ROBOT.2009.5152566

M3 - 会议稿件

AN - SCOPUS:70350365093

SN - 9781424427895

T3 - Proceedings - IEEE International Conference on Robotics and Automation

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BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09

T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09

Y2 - 12 May 2009 through 17 May 2009

ER -

Leader-follower formation control of underactuated AUVS with leader position measurement

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