Path Following for Multiple Underactuated Autonomous Underwater Vehicles with Formation Constraints
This paper addresses the problem of steering a group of underactuated Autonomous Underwater Vehicles along specified paths while keeping a desired spatial formation. The controller proposed consists of a nonlinear path following control law and a coordination control law. The new type of path following control law takes an arbitrary variable but not necessarily the curvilinear abscissas variable to describe the referenced path, by which the stringent initial condition constrains existed in current path following controllers are extended; The coordination control strategy proposed only need the vehicles communicate the information of the coordinated variable, so the information flow is small and satisfies with a practical standpoint. For the overall closed-loop system, it is shown in detail how Lyapunov-based techniques and graph theory can be brought together to design a decentralized control structure, where the vehicle dynamics and the constraints imposed by the topology of the intervehicle communication network are explicitly taken into account.
Path following Underactuated Autonomous Underwater Vehicle Formation
WANG Yintao YAN Weisheng
College of Marine, Northwestern Polytechnical University, Xi’an, 710072, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
6004-6009
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）