Receding horizon formation control of nonholonomic autonomous underwater vehicles

Huiping Li; Yang Shi; Weisheng Yan

doi:10.1109/ChiCC.2016.7554308

Receding horizon formation control of nonholonomic autonomous underwater vehicles

School of Marine Science and Technology

University of Victoria BC

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

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.

Original language	English
Title of host publication	Proceedings of the 35th Chinese Control Conference, CCC 2016
Editors	Jie Chen, Qianchuan Zhao, Jie Chen
Publisher	IEEE Computer Society
Pages	6062-6067
Number of pages	6
ISBN (Electronic)	9789881563910
DOIs	https://doi.org/10.1109/ChiCC.2016.7554308
State	Published - 26 Aug 2016
Event	35th Chinese Control Conference, CCC 2016 - Chengdu, China Duration: 27 Jul 2016 → 29 Jul 2016

Publication series

Name	Chinese Control Conference, CCC
Volume	2016-August
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	35th Chinese Control Conference, CCC 2016
Country/Territory	China
City	Chengdu
Period	27/07/16 → 29/07/16

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

Keywords

Autonomous underwater vehicles (AUVs)
formation control
nonholonomic systems
receding horizon control (RHC)
tracking control

Access to Document

10.1109/ChiCC.2016.7554308

Cite this

@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",

}

Li, H, Shi, Y & Yan, W 2016, Receding horizon formation control of nonholonomic autonomous underwater vehicles. in J Chen, Q Zhao & J Chen (eds), Proceedings of the 35th Chinese Control Conference, CCC 2016., 7554308, Chinese Control Conference, CCC, vol. 2016-August, IEEE Computer Society, pp. 6062-6067, 35th Chinese Control Conference, CCC 2016, Chengdu, China, 27/07/16. https://doi.org/10.1109/ChiCC.2016.7554308

Receding horizon formation control of nonholonomic autonomous underwater vehicles. / Li, Huiping; Shi, Yang; Yan, Weisheng.
Proceedings of the 35th Chinese Control Conference, CCC 2016. ed. / Jie Chen; Qianchuan Zhao; Jie Chen. IEEE Computer Society, 2016. p. 6062-6067 7554308 (Chinese Control Conference, CCC; Vol. 2016-August).

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

TY - GEN

T1 - Receding horizon formation control of nonholonomic autonomous underwater vehicles

AU - Li, Huiping

AU - Shi, Yang

AU - Yan, Weisheng

PY - 2016/8/26

Y1 - 2016/8/26

N2 - 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.

AB - 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.

KW - Autonomous underwater vehicles (AUVs)

KW - formation control

KW - nonholonomic systems

KW - receding horizon control (RHC)

KW - tracking control

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DO - 10.1109/ChiCC.2016.7554308

M3 - 会议稿件

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SP - 6062

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BT - Proceedings of the 35th Chinese Control Conference, CCC 2016

A2 - Chen, Jie

A2 - Zhao, Qianchuan

A2 - Chen, Jie

PB - IEEE Computer Society

T2 - 35th Chinese Control Conference, CCC 2016

Y2 - 27 July 2016 through 29 July 2016

ER -

Receding horizon formation control of nonholonomic autonomous underwater vehicles

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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