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Content Provider | IET Digital Library |
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Author | Yang, Huizhen Wang, Chuanfeng Zhang, Fumin |
Abstract | Formation control for a group of autonomous underwater vehicles (AUVs) is challenging due to the complex systems dynamics and time delay in the cooperative feedback loops. This paper introduces a decoupled design procedure, so that formation controllers designed for particle dynamics can be generalised to formation controllers for fully actuated AUVs with six-degree-of-freedom dynamic models for motions in three-dimensional space. The orientation control and the translation control are first decoupled following a standard inner–outer loop approach. Then, a geometric approach is followed to separate the translation dynamics into formation shape dynamics and formation centre dynamics. Coupling terms between the two portions of the dynamics are treated as perturbations and are tolerated by a robust formation-keeping controller. The controller is also robust to constant bounded time delays. This decoupling procedure simplified the entire design process comparing with other existing approaches with similar goals. Both rigorous theoretical analysis and simulation results are presented to justify the effectiveness of this method. |
Starting Page | 1950 |
Ending Page | 1958 |
Page Count | 9 |
ISSN | 17518644 |
Volume Number | 7 |
e-ISSN | 17518652 |
Issue Number | Issue 15, Oct (2013) |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/iet-cta/7/15 |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2013.0072 |
Journal | IET Control Theory & Applications |
Access Restriction | Open |
Rights Holder | © The Institution of Engineering and Technology |
Subject Keyword | Attitude Control Autonomous Underwater Vehicle Combinatorial Mathematics Complex System Dynamics Constant Bounded Time Delay Control System Analysis Control System Synthesis Cooperative Feedback Loops Coupling Term Decoupled Controller Design Approach Decoupling Procedure Delay Distributed Parameter Control System Feedback Formation Centre Dynamics Formation Controller Design Formation Shape Dynamics Fully-actuated AUV Geometric Approach Geometry Marine System Control Mobile Robots Multi-robot System Orientation Control Particle Dynamics Perturbation Technique Perturbations Position Control Robot And Manipulator Mechanics Robot Dynamics Robust Control Robust Formation-keeping Controller Six-degree-of-freedom Dynamic Model Spatial Variables Control Stability in Control Theory Standard Inner-outer Loop Approach Synthesis Method Three-dimensional Space Translation Control Translation Dynamics Vehicle Mechanics |
Content Type | Text |
Resource Type | Article |
Subject | Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications |
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