Planar Tracking Control for Multiple Underactuated AUVs under Formation Constraint
T coordinate formation control for multiple underactuated AUVs.An optimal performance index is proposed to give attention to both tracking quality and formation constraint.A reference feasible trajectory for the position and orientation based on velocity control is planned so that it is consistent with vehicle dynamics.And the performance index is transformed to the error one.The optimal controller is designed to solve the problem.Using the controller we demonstrate the physical realization of control system at the same time.Simulation results validate that the proposed formation methodology are presented and discussed.
Optimal tracking controller multiple underactuated AUVs formation constraint
Hai-Lin Liu Gong-You Tang Qi-Lei Xu Hao Yu
Collage of Information Science and Engineering,Ocean University of China,238 Songling Road,Qingdao,266100,P.R.China
国际会议
济南
英文
438-442
2012-12-29（万方平台首次上网日期，不代表论文的发表时间）