We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Robust time‐varying formation control for multiple underwater vehicles subject to nonlinearities and uncertainties.
- Authors
Liu, Hao; Lyu, Yafei; Lewis, Frank L.; Wan, Yan
- Abstract
Summary: This paper addresses the robust formation control problem for multiple autonomous underwater vehicles (AUVs) to achieve the desired formation trajectory and time‐varying formation pattern and to align the vehicle attitudes. The dynamics of each AUV system involves parameter variations, nonlinear dynamics, and external disturbances. A robust distributed formation control protocol is developed based on the graph theory and the robust compensation theory. It is proven that the tracking errors of the global uncertain system can converge into a given neighborhood of the origin in a finite time. Simulation results substantiate the effectiveness of the developed formation control method for multiple AUVs subject to nonlinearities and uncertainties.
- Subjects
AUTONOMOUS underwater vehicles; SUBMERSIBLES; UNCERTAIN systems; GRAPH theory; UNCERTAINTY
- Publication
International Journal of Robust & Nonlinear Control, 2019, Vol 29, Issue 9, p2712
- ISSN
1049-8923
- Publication type
Article
- DOI
10.1002/rnc.4517