Robust Distributed Formation Controller Design for a Group of Unmanned Underwater Vehicles

被引：117
|
作者：
Liu, Hao [1 ,2 ]
Wang, Yanhu [1 ,2 ]
Lewis, Frank L. [3 ,4 ]
机构：
[1] Beihang Univ, Sch Astronaut, Beijing 100191, Peoples R China
[2] Beihang Univ, Minist Educ, Key Lab Spacecraft Design Optimizat & Dynam Simul, Beijing 100191, Peoples R China
[3] Univ Texas Arlington, Res Inst, Ft Worth, TX 76118 USA
[4] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110004, Peoples R China
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | 2021年 / 51卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Formation control; nonlinear system; robust control; uncertain system; unmanned underwater vehicle (UUV);
D O I：
10.1109/TSMC.2019.2895499
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The formation of unmanned underwater vehicles (UUVs) has wide potential for applications in various marine activities. This paper studies the robust formation protocol design problem for multiple UUVs, whose dynamics are subject to nonlinearity, parametric uncertainties, and external disturbances. A robust distributed formation control scheme is proposed, which yields a control structure involving a position loop and an attitude loop to govern the translational motion and rotational motion, respectively. Theoretical analysis is given to show the robustness properties of the global closed-loop control system. Simulation results are provided to validate the effectiveness of the proposed formation control method.
引用
收藏
页码：1215 / 1223
页数：9
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