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http://dx.doi.org/10.5370/JEET.2018.13.1.493

Decentralized Observer-Based Output-Feedback Formation Control of Multiple Unmanned Underwater Vehicles  

Moon, Ji Hyun (Dept. of Electronic Engineering, Inha University)
Lee, Ho Jae (Dept. of Electronic Engineering, Inha University)
Publication Information
Journal of Electrical Engineering and Technology / v.13, no.1, 2018 , pp. 493-500 More about this Journal
Abstract
This paper addresses a decentralized observer-based output-feedback formation control problem for multiple unmanned underwater vehicles (UUVs). The complex nonlinear model for a UUV is feedback-linearized. It is assumed that each UUV in the formation exploits only the information regarding itself and the immediate predecessor, which imposes structural constraints on the formation controller gain matrices. The design condition is presented as a two-stage linear matrix inequalities problem. The synthesized controller demonstrates its own advantages through a numerical example.
Keywords
Unmanned underwater vehicle (UUV); Feedback linearization; Formation control; Structural constraint;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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