Nonlinear motion control of multiple Autonomous Underwater Vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2007

Authors

Vanni, F (Author) Other; Aguiar, AP (Author) Other; Pascoal, A (Author) Other

Conference proceedings International

Title: IFAC Proceedings Volumes (IFAC-PapersOnline)

Pages: 75-80

7th IFAC Conference on Control Applications in Marine Systems, CAMS 2007

Bol, 19 September 2007 through 21 September 2007

Indexing

ISI Web of Knowledge

Scopus - 2 Citations

Other information

Authenticus ID: P-007-ZFT

Abstract (EN): This paper addresses the problem of steering a group of underactuated Autonomous Underwater Vehicles (AUVs) along given spatial paths, while holding a desired inter-vehicle formation pattern (coordinated path-following, abbreviated CPF). Exploiting Lyapunov-based techniques and graph theory, a decentralized control law is derived that takes into account the dynamics of the cooperating vehicles, the constraints imposed by the topology of the inter-vehicle communications network, and the cost of exchanging information. The CPF problem is divided into the motion control task of making each vehicle track a virtual target moving along the desired path, and the dynamic assignment task of adjusting the speeds of the virtual targets so as to achieve vehicle coordination. At the path-following level, the controller derived exhibits an inner-outer loop structure. Convergence and stability of the overall system are proved formally. Simulations results are presented and discussed. Copyright © 2007 IFAC.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6