Robust Adaptive Formation Control of Underactuated Autonomous Underwater Vehicles Under Input Saturation

被引：0
|
作者：
Li, Jian [1 ]
Du, Jialu [1 ]
机构：
[1] Dalian Maritime Univ, Sch Marine Elect Engn, Dalian 116026, Peoples R China
来源：
PROCEEDINGS OF THE 30TH CHINESE CONTROL AND DECISION CONFERENCE (2018 CCDC) | 2018年
关键词：
AUVs underactuated; formation control; input saturation; dynamic surface control; OUTPUT-FEEDBACK CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we investigate the leader -follower formation control of underactuated Autonomous Underwater Vehicles (AUVs) in the presence of unknown bounded time -varying disturbances and input saturation, where the non-diagonal mass and damping matrices are considered in the realistic dynamical model of AUV. Additional control is employed to handle the input saturation and underactuation of AUV TV. Based on the additional control, the leader followerformation control law is designed by incorporating adaptive technique with dynamic surface control(DSC) method. The adaptive laws are designed to estimate the hounds of unknown time -variant environmental disturbances. The stability analysis indicates that the proposed formation control law can make AUV TVs achieve the desired formation and guarantees uniformly ultimate boundedness of all signals of the AUVs formation closed -loop system. Simulation results on three AUVs demonstrate the effectiveness of the proposed formation control law.
引用
收藏
页码：5798 / 5803
页数：6
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