NDLI: Robust control of horizontal formation dynamics for autonomous underwater vehicles

Content Provider	IEEE Xplore Digital Library
Author	Huizhen Yang Fumin Zhang
Copyright Year	2011
Description	Author affiliation: School of Electrical and Computer Engineering, Georgia Institute of Technology, USA (Fumin Zhang) \|\| School of Marine, Northwestern Polytechnical University, China (Huizhen Yang)
Abstract	This paper presents a novel robust controller design for formation control of autonomous underwater vehicles (AUVs). We consider a nonlinear three-degree-of-freedom dynamic model for the horizontal motion of each AUV. By using the Jacobi transform, the horizontal dynamics of AUVs are explicitly expressed as dynamics for formation shape and formation center, and are further decoupled by feedback control. We treat the coupling terms as perturbations to the decoupled system. An H state feedback controller is designed to achieve robust stability of the closed loop formation and translation dynamics. By incorporating an orientation controller, the formation shape under control converges and the formation center tracks a desired trajectory simultaneously. Simulation results demonstrate the effectiveness of the controllers.
Starting Page	3364
Ending Page	3369
File Size	356945
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979713
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle dynamics Equations Shape Robustness Vehicles Jacobian matrices Dynamics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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