Virtual-Leader-follower Structure and Finite-time Controller based Cooperative Control of Multiple Autonomous Underwater Vehicles
The formation control for large-scale multiple autonomous underwater vehicles is investigated. A formation control scheme to combinate leader-follower with virtual structure is introduced; AUVs with underwater communication rage constraints are divided into some clusters according to their relative postions in space, and leaders in all clusters can track their desired trajectories based on virtual structure; followers within all clusters follow the corresponding leader as their desired tracking trajectory. We realize the larege-scale formation control with the proposed formation scheme and the finite-time controller proposed in our previous work. Numerical simulation results show the effectiveness of the control strategy.
Autonomous Underwater Vehicle Large-scale Formation Control Virtual-leader-follower Hierarchical Structure Feedback Linearization Finite time
ZHOU Zhong-Hai YUAN Jian ZHANG Wen-Xia ZHAO Jin-Ping
College of Physical and Environmental Oceanography, Ocean University of China, Qingdao, 266100 Shand Shandong Provincial Key Laboratory of Ocean Environment Monitoring Technology, Qingdao, 266001 Insti Mechanical & Electrical Engineering Department, Qindao College, Qingdao Shandong, 266016 College of Physical and Environmental Oceanography, Ocean University of China, Qingdao, 266100
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
3687-3692
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）