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|Title:||Leader-follower formation control of underactuated AUVS with leader position measurement|
|Authors:||Cui, R. |
Ee How, B.V.
|Citation:||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|
|Appears in Collections:||Staff Publications|
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