International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Formation Control for Underactuated Autonomous Underwater Vehicles Using the Approach Angle

  • Kim, Kyoung Joo (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Park, Jin Bae (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Choi, Yoon Ho (Department of Electronic Engineering, Kyonggi University)
  • Received : 2013.07.28
  • Accepted : 2013.09.14
  • Published : 2013.09.25
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Abstract

In this paper, we propose a formation control algorithm for underactuated autonomous underwater vehicles (AUVs) with parametric uncertainties using the approach angle. The approach angle is used to solve the underactuated problem for AUVs, and the leader-follower strategy is used for the formation control. The proposed controller considers the nonzero off-diagonal terms of the mass matrix of the AUV model and the associated parametric uncertainties. Using the state transformation, the mass matrix, which has nonzero off-diagonal terms, is transformed into a diagonal matrix to simplify designing the control. To deal with the parametric uncertainties of the AUV model, a self-recurrent wavelet neural network is used. The proposed formation controller is designed based on the dynamic surface control technique. Some simulation results are presented to demonstrate the performance of the proposed control method.

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References

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