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http://dx.doi.org/10.5391/IJFIS.2013.13.3.154

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)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.13, no.3, 2013 , pp. 154-163 More about this Journal
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.
Keywords
Formation control; Leader-follower strategy; Autonomous underwater vehicle; Underactuated systems; Dynamic surface control;
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