Please use this identifier to cite or link to this item: https://doi.org/10.1109/ROBOT.2009.5152566
Title: Leader-follower formation control of underactuated AUVS with leader position measurement
Authors: Cui, R. 
Ge, S.S. 
Ee How, B.V. 
Choo, Y.S. 
Issue Date: 2009
Source: Cui, R.,Ge, S.S.,Ee How, B.V.,Choo, Y.S. (2009). Leader-follower formation control of underactuated AUVS with leader position measurement. Proceedings - IEEE International Conference on Robotics and Automation : 979-984. ScholarBank@NUS Repository. https://doi.org/10.1109/ROBOT.2009.5152566
Abstract: In this paper, we investigate the leader-follower formation control of underactuated Autonomous Underwater Vehicles (AUVs). By using position measurements from the leader, we design a virtual vehicle such that the trajectory of the virtual vehicle converges to the reference trajectory of the follower. A position tracking control is designed for the follower to track the virtual vehicle using Lyapunov and backstepping synthesis. Simulation results demonstrated the effectiveness ofthe proposed scheme. © 2009 IEEE.
Source Title: Proceedings - IEEE International Conference on Robotics and Automation
URI: http://scholarbank.nus.edu.sg/handle/10635/50781
ISBN: 9781424427895
ISSN: 10504729
DOI: 10.1109/ROBOT.2009.5152566
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