Control Allocation Design for Torpedo-Like Underwater Vehicles with Multiple Actuators

Distributed Control Design for Underwater Vehicles

The vast majority of control applications are based on non-interacting decentralized control designs. Because of their single-loop structure, these controllers cannot suppress interactions of the system. It would be useful to tackle the undesirable effects of the interactions at the design stage. A novel model predictive control scheme based on Nash optimality is presented to achieve this goal....

A Survey of Control Allocation Methods for Underwater Vehicles

Coordinated Path-Following Control of Multiple Autonomous Underwater Vehicles

The concept of multiple Autonomous Underwater Vehicles (AUVs) cooperatively performing a mission offers several advantages over single vehicles working in a non-cooperative manner such as increased efficiency, performance, reconfigurability, robustness and the emergence of new capabilities. This paper introduces the concept of coordinated path-following control of multiple AUVs. The vehicles ar...

Adaptive Formation Control of Multiple Autonomous Underwater Vehicles

This paper presents an adaptive formation control for a multiple Autonomous underwater vehicles (AUVs) using Lyapunov stability criterian. This controller considers the hydrodynamic parameter uncertainties of the AUVs. Simulations are performed considering three AUVs in a group and the results obtained demonstrate effective formation control of these AUVs while tracking a circular trajectory.

Coordinated Motion Control of Multiple Autonomous Underwater Vehicles

Spawned by recent advances in technology, widespread attention has been focused on the coordination of multiple autonomous vehicles. In numerous mission scenarios, the concept of a group of agents cooperating to achieve a determined goal is very attractive when compared with the solution of one single, heavily equipped vehicle, as it exhibits better performance in terms of efficiency, flexibili...