Title:
Robust Geometric Formation Control of Multiple Autonomous
Robust Geometric Formation Control of Multiple Autonomous
Author(s)
Yang, Huizhen
Wang, Chuanfeng
Zhang, Fumin
Wang, Chuanfeng
Zhang, Fumin
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Abstract
This paper develops a robust controller for autonomous
underwater vehicles with bounded time delays, so
that the AUVs form and keep a desired formation shape and
track a desired trajectory. We use a six-degree-of-freedom
dynamic model for each AUV to describe its motions in the
three-dimensional space. We design an orientation controller
based on feedback linearization, so that the orientation of
each AUV converges to its desired value. We derive formation
dynamics of AUVs and decouple the dynamics into a formation
shape and a formation center, using the Jacobi transform. We
treat couplings in the formation dynamics as perturbations and
design a robust formation-keeping controller to tolerate both
the perturbations and the time delays. We demonstrate the
effectiveness of our controller in simulations.
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Date Issued
2013-06
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Text
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Post-print
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