Please use this identifier to cite or link to this item:
|Title:||Leader-follower formation control of underactuated autonomous underwater vehicles|
|Authors:||Cui, R. |
Voon Ee How, B.
Sang Choo, Y.
|Keywords:||Autonomous underwater vehicle|
|Citation:||Cui, R., Ge, S.S., Voon Ee How, B., Sang Choo, Y. (2010-12). Leader-follower formation control of underactuated autonomous underwater vehicles. Ocean Engineering 37 (17-18) : 1491-1502. ScholarBank@NUS Repository. https://doi.org/10.1016/j.oceaneng.2010.07.006|
|Abstract:||This paper is concerned with the leaderfollower formation control of multiple underactuated autonomous underwater vehicles (AUVs). In the proposed leaderfollower control, the follower tracks a reference trajectory based on the leader position and predetermined formation without the need for leader's velocity and dynamics. This is desirable in marine robotics due to weak underwater communication and low bandwidth. A virtual vehicle is constructed such that its trajectory converges to the reference trajectory of the follower. Position tracking control is designed for the follower to track the virtual vehicle using Lyapunov and backstepping synthesis. Approximation-based control technique is employed to handle the model parametric uncertainties and unknown disturbances for the follower. The residual error between vehicles within the formation is proven to converge to a bounded compact set and control performance is guaranteed by suitably choosing the design parameters. Extensive simulations are provided to demonstrate the effectiveness of the approaches presented. © 2010 Elsevier Ltd. All rights reserved.|
|Source Title:||Ocean Engineering|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Jul 14, 2018
WEB OF SCIENCETM
checked on Jun 19, 2018
checked on May 12, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.