Adaptive Path Following and Coordinated Control of Autonomous Underwater Vehicles

摘要：

　　A practical design method is developed for path following and coordinated control of Autonomous Underwater Vehicles (AUVs).Each AUV is modeled by a system with time-varying parameters,unknown nonlinear dynamics and unknown disturbance.A robust adaptive distributed controller is designed for each AUV such that all AUVs ultimately synchronize to the desired paths with required formation.Moreover,these controllers are distributed in the sense that the controller design for each AUV only requires relative state in formation between itself and its neighbors.Finally,a simulation example demonstrates the effectiveness of the control method.

关键词： Autonomous underwater vehicle path following coordinated control adaptive control

作者: QI Xue ZHANG Li-Jun ZHAO Jie-Mei

作者单位: College of Science,Anhui Science and Technology University,Fengyang,233100,China College of Marine,Northwestern Polytechnical University,Xian,710072,China School of Mathematic and Computer Science,Wuhan Polytechnic University,Wuhan,430023,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 2127-2132

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）