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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 | 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 | URI: | http://scholarbank.nus.edu.sg/handle/10635/50781 | ISBN: | 9781424427895 | ISSN: | 10504729 | DOI: | 10.1109/ROBOT.2009.5152566 |
| Appears in Collections: | Staff Publications |
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