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
U2 - 10.1109/ROBOT.2009.5152566
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
SP - 979
EP - 984
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 -