Formation Control of Autonomous Underwater Vehicles Subject to Communication Delays

被引：190

作者：

Millan, Pablo ^{[1
]}

Orihuela, Luis ^{[2
]}

Jurado, Isabel ^{[2
]}

Rodriguez Rubio, Francisco ^{[2
]}

机构：

[1] Univ Loyola Andalucia, Dept Metodos Cuantitat, Seville 41014, Spain

[2] Univ Seville, Escuela Super Ingn, Dpt Ingn Sistemas & Automat, Seville 41092, Spain

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2014年 / 22卷 / 02期

关键词：

Autonomous underwater vehicles (AUVs); communication delays; formation control; feedforward control; H-2/H-infinity control; MULTIAGENT RENDEZVOUS PROBLEM; NONHOLONOMIC MOBILE ROBOTS; FOLLOWER FORMATION CONTROL; COOPERATIVE CONTROL; SYSTEMS; AGENTS;

D O I：

10.1109/TCST.2013.2262768

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 paper addresses the formation control problem for fleets of autonomous underwater vehicles (AUVs). The solution is based on the virtual leader approach, with the main goal of designing a control system to cope with the inter-vehicle communication problems, especially significant in underwater environments. The use of kinematic relations allows the linearization of the AUV dynamics maintaining its turning capacities. The control strategy consists of a feedback H-2/H-infinity controller in combination with a feedforward controller, which makes it possible to deal with delays and packets dropouts while ensuring a good formation control performance.

引用

页码：770 / 777

页数：8

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