Passivity-based formation control of autonomous underwater vehicles

被引：92
作者：
Wang, Y. [1 ]
Yan, W. [1 ]
Li, J. [1 ]
机构：
[1] Northwestern Polytech Univ, Coll Marine, Xian 710072, Peoples R China
来源：
IET CONTROL THEORY AND APPLICATIONS | 2012年 / 6卷 / 04期
基金：
美国国家科学基金会;
关键词：
NONLINEAR FORMATION CONTROL; DESIGN;
D O I：
10.1049/iet-cta.2011.0354
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This study addresses the problem of steering a group of autonomous underwater vehicles along specified paths while keeping a desired spatial formation. The authors show how passivity-based techniques and consensus tracking theories are brought together to yield a distributed control strategy, by which the problems existing in current literature that a common reference velocity signal being available to all cooperating vehicles are explicitly extended. The desired coordinated behaviour is achieved by means of consensus on the velocity of path parameter of a virtual dynamic leader. The stability of the overall closed-loop system is analysed mathematically by adopting nested Matrosov theorem. To demonstrate the controller proposed, simulations results are presented and discussed.
引用
收藏
页码：518 / 525
页数：8
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