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http://dx.doi.org/10.5302/J.ICROS.2008.14.12.1197

Formation Control of a Group of Underactuated Autonomous Underwater Vehicles  

Li, Ji-Hong (한국해양연구원 해양시스템안전연구소 해양시스템연구부)
Jun, Bong-Huan (한국해양연구원 해양시스템안전연구소 해양시스템연구부)
Lee, Pan-Mook (한국해양연구원 해양시스템안전연구소 해양시스템연구부)
Lim, Yong-Kon (한국해양연구원 해양시스템안전연구소)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.12, 2008 , pp. 1197-1204 More about this Journal
Abstract
This paper presents an asymptotic formation control scheme for a group of underactuated autonomous underwater vehicles (AUVs) where only three control inputs - surge force, yaw moment and pitch moment are available for each vehicle's six degree of freedom (DOF) underwater motion. Usually, the dynamics agents applied in most of the formation algorithms presented so far have been modeled as particle systems, which is a simple double-integrator system. Therefore, these algorithms cannot be directly applicable to the practical systems, especially to the underwater vehicles whose dynamics are highly nonlinear. Moreover, the vehicles considered in this paper are underactuated. The formation control is derived using general potential function method, and the corresponding potential function consists of two parts: interactions between vehicles and virtual-leader following. Proposed formation scheme guarantees asymptotic local stability of closed-loop system. Numerical simulations are carried out to illustrate the effectiveness of proposed formation scheme.
Keywords
autonomous underwater vehicles (AUVs); formation control; multiple vehicles systems; underactuated systems;
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