摘要
This paper investigates the problem of steering a group of autonomous underwater vehicles along specified paths while keeping a desired spatial formation. Based on passivity and consensus tracking theories, a distributed control strategy was derived, by which the consensus formation tracking problems for a group of autonomous underwater vehicles can be accomplished, when the common reference velocity signal is available to only a subset of the cooperating vehicles. The proposed control strategy can be divided into two parts. Firstly, a passivity channel from coordinated error to tracking error is established based on the passivity theory. Secondly, a coordinated consensus tracking strategy is derived to ensure each AUV for reaching a consistent state about the inconsistent reference information. The stability of the overall closed-loop system is analyzed mathematically by adopting Nested Matrosov theorem. Simulation results are presented and discussed for validating the proposed controller.
源语言 | 英语 |
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页(从-至) | 379-384 |
页数 | 6 |
期刊 | Kongzhi Lilun Yu Yingyong/Control Theory and Applications |
卷 | 30 |
期 | 3 |
DOI | |
出版状态 | 已出版 - 3月 2013 |