Formation Control of Autonomous Underwater Vehicles
نویسندگان
چکیده
In this paper, we present a formation-keeping control of multiple autonomous underwater vehicles(UAVs) in 3D space. We use a so-called LeaderFollower formation approach, and our control task is to keep the relative position of each follower with a desired orientation to the leader. An Input/Output linearization is applied to the error system whose coordinates are the differences between a target point fixed with follower, and desired position defined in the leader’s local coordinate system is realized. We will also prove the stability of zero-dynamics and give a condition for perfect formation. The efficiency of our control is demonstrated by numerical simulations. Copyright 2005 IFAC
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تاریخ انتشار 2005