TY - GEN
T1 - Formation control of underactuated autonomous underwater vehicles in horizontal plane
AU - Yan, Weisheng
AU - Cui, Rongxin
AU - Xu, Demin
PY - 2008
Y1 - 2008
N2 - In formation control, each autonomous underwater vehicle (AUV) needs to maintain a desired distance among others while following its predefine path. We divided the problem into two steps, one is path following of a single vehicle, and the other is coordinating the path parameter. We combine backstepping and Lyapunov method to derive the path following algorithm for each AUV, and then make each AUV's path parameter synchronization to accomplish the formation task. Simulation results show the efficiency of the proposed control law, and in our algorithm, AUV needs to exchange the path parameter only, which decrease the communication requirement.
AB - In formation control, each autonomous underwater vehicle (AUV) needs to maintain a desired distance among others while following its predefine path. We divided the problem into two steps, one is path following of a single vehicle, and the other is coordinating the path parameter. We combine backstepping and Lyapunov method to derive the path following algorithm for each AUV, and then make each AUV's path parameter synchronization to accomplish the formation task. Simulation results show the efficiency of the proposed control law, and in our algorithm, AUV needs to exchange the path parameter only, which decrease the communication requirement.
KW - Autonomous underwater vehicles
KW - Formation control
KW - Synchronization
UR - http://www.scopus.com/inward/record.url?scp=56449126279&partnerID=8YFLogxK
U2 - 10.1109/ICAL.2008.4636263
DO - 10.1109/ICAL.2008.4636263
M3 - 会议稿件
AN - SCOPUS:56449126279
SN - 9781424425020
T3 - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
SP - 822
EP - 827
BT - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
T2 - IEEE International Conference on Automation and Logistics, ICAL 2008
Y2 - 1 September 2008 through 3 September 2008
ER -