Three-dimensional formation control based on nonlinear small gain method for multiple underactuated underwater vehicles. (1st March 2018)

• Record Type: Journal Article
• Authors: Qi, Xue; Cai, Zhi-jun
• Is Part Of: Ocean engineering. Volume 151(2018)
• Page Start: 105
• Page End: 114
• Publication Date: 2018-03-01
• Subjects: Underactuated underwater vehicle -- Formation control -- Small gain method -- Nonlinear control; 93C85 -- 93B51 -- 65P40; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2018.01.032
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: This paper proposes a distributed formation tracking controller for multiple underactuated underwater vehicles (UUVs) which move in three dimensional space. The formation controller designing process is divided into two parts. In the first part, the condition which the formation controller must be satisfied is given. And the controllers are designed to ensure the condition mentioned before. In the second part, decentralized formation controller are proposed, and the stability analysis based on small gain theorem is introduced. Simulation results illustrate that the designed controller can track three-dimensional formation trajectory accurately. Highlights: A new distributed coordination algorithm to drive multiple UUVs to the specified spatial paths is proposed. The local relative location is used in the control algorithm, which has more practical application value. The condition which the linear velocities of multiple UUVs must satisfy is developed.