Formation Control of Autonomous Underwater Vehicles Subject to Communication Delays

被引：175
|
作者：
Millan, Pablo [1 ]
Orihuela, Luis [2 ]
Jurado, Isabel [2 ]
Rodriguez Rubio, Francisco [2 ]
机构：
[1] Univ Loyola Andalucia, Dept Metodos Cuantitat, Seville 41014, Spain
[2] Univ Seville, Escuela Super Ingn, Dpt Ingn Sistemas & Automat, Seville 41092, Spain
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2014年 / 22卷 / 02期
关键词：
Autonomous underwater vehicles (AUVs); communication delays; formation control; feedforward control; H-2/H-infinity control; MULTIAGENT RENDEZVOUS PROBLEM; NONHOLONOMIC MOBILE ROBOTS; FOLLOWER FORMATION CONTROL; COOPERATIVE CONTROL; SYSTEMS; AGENTS;
D O I：
10.1109/TCST.2013.2262768
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the formation control problem for fleets of autonomous underwater vehicles (AUVs). The solution is based on the virtual leader approach, with the main goal of designing a control system to cope with the inter-vehicle communication problems, especially significant in underwater environments. The use of kinematic relations allows the linearization of the AUV dynamics maintaining its turning capacities. The control strategy consists of a feedback H-2/H-infinity controller in combination with a feedforward controller, which makes it possible to deal with delays and packets dropouts while ensuring a good formation control performance.
引用
收藏
页码：770 / 777
页数：8
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