Robust Formation Control for Multiple Underwater Vehicles
نویسندگان
چکیده
منابع مشابه
Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...
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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.
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My work is included in the framework of the FeedNetBack project. The objective of the project isthe collaborative control of several autonomous underwater vehicles (AUV). The first step of thisfinal year project is the realization of an efficient Matlab/Simulink model of the submersible, basedon Ifremer (marine vehicle constructor) data. Thus, the aim is to control the vehicle b...
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ژورنال
عنوان ژورنال: Frontiers in Robotics and AI
سال: 2019
ISSN: 2296-9144
DOI: 10.3389/frobt.2019.00090