3D Formation Control of Multiple Torpedo-type Underactuated AUVs. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Li, Ji-Hong; Park, Daegil; Kang, Hyungjoo; Cho, Gun Rae
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 14680
• Page End: 14685
• Publication Date: 2020
• Subjects: Multi-agent system -- Formation control -- Underactuated system -- Path following -- Marine systems -- Lyapunov stability; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.1829
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper considers the formation problem for a group of torpedo-type AUVs (autonomous underwater vehicles). For each vehicle, there are only three control inputs available for the vehicle's 6-DOF motion in the water. So this is a typical underactuated system. For these underactuated multi-agent system, we propose a sort of virtual structure based formation scheme. Virtual structure is a graph with each node taken as virtual leader for each specific agent vehicle. And for the vehicle's motion control, a sort of path following scheme is used to force the vehicle to follow the virtual leader's trajectory. Proposed formation scheme can guarantee the exponential following in the spherical coordinate frame, and some of simulation studies are carried out to demonstrated this kind of following performance.