Person:
Zhang,
Fumin
Zhang,
Fumin
Permanent Link
Associated Organization(s)
Organizational Unit
ORCID
ArchiveSpace Name Record
Publication Search Results
Now showing
1 - 2 of 2
-
ItemCooperative Exploration of Level Surfaces of Three Dimensional Scalar Fields(Georgia Institute of Technology, 2011) Wu, W. ; Zhang, Fumin
-
ItemRobust Control of Horizontal Formation Dynamics for Autonomous Underwater Vehicles(Georgia Institute of Technology, 2011) Yang, H. ; Zhang, FuminThis paper presents a novel robust controller design for formation control of autonomous underwater vehicles (AUVs). We consider a nonlinear three-degree-of-freedom dynamic model for the horizontal motion of each AUV. By using the Jacobi transform, the horizontal dynamics of AUVs are explicitly expressed as dynamics for formation shape and formation center, and are further decoupled by feedback control. We treat the coupling terms as perturbations to the decoupled system. An H_inf state feedback controller is designed to achieve robust stability of the closed loop formation and translation dynamics. By incorporating an orientation controller, the formation shape under control converges and the formation center tracks a desired trajectory simultaneously. Simulation results demonstrate the effectiveness of the controllers.