Time-Cooperative Guidance with Impact Angle Constraint for Multiple Autonomous Underwater Vehicles

Xi Lu, Ningning Zhao, Jianan Yang, Yimin Chen, Jian Gao, Hui Fan

科研成果: 书/报告/会议事项章节会议稿件同行评审

1 引用 (Scopus)

摘要

This paper proposes a cooperative guidance law for multiple autonomous underwater vehicles reaching a moving target, which makes it possible to hit the target from both sides at a desired impact angle. An impact angle constraint is developed to control the impact angle of the leader, meanwhile, an additional control command is constructed to control the impact time of the followers. Based on the underwater vehicle kinematics and dynamics model, the decoupled three-channel attitude controller is also considered. Numerical simulations are conducted to verify the effectiveness and performances of the proposed method.

源语言英语
主期刊名OCEANS 2023 - Limerick, OCEANS Limerick 2023
出版商Institute of Electrical and Electronics Engineers Inc.
ISBN(电子版)9798350332261
DOI
出版状态已出版 - 2023
活动2023 OCEANS Limerick, OCEANS Limerick 2023 - Limerick, 爱尔兰
期限: 5 6月 20238 6月 2023

出版系列

姓名OCEANS 2023 - Limerick, OCEANS Limerick 2023

会议

会议2023 OCEANS Limerick, OCEANS Limerick 2023
国家/地区爱尔兰
Limerick
时期5/06/238/06/23

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