NONLINEAR MOTION CONTROL OF MULTIPLE AUTONOMOUS UNDERWATER VEHICLES
2007; Elsevier BV; Volume: 40; Issue: 17 Linguagem: Inglês
10.3182/20070919-3-hr-3904.00014
ISSN2589-3653
AutoresFrancesco Vanni, A. Pedro Aguiar, A. Pascoal,
Tópico(s)Control and Dynamics of Mobile Robots
ResumoThis paper addresses the problem of steering a group of underactuated Autonomous Underwater Vehicles (AUVs) along given spatial paths, while holding a desired inter-vehicle formation pattern (coordinated path-following, abbreviated CPF). Exploiting Lyapunov-based techniques and graph theory, a decentralized control law is derived that takes into account the dynamics of the cooperating vehicles, the constraints imposed by the topology of the inter-vehicle communications network, and the cost of exchanging information. The CPF problem is divided into the motion control task of making each vehicle track a virtual target moving along the desired path, and the dynamic assignment task of adjusting the speeds of the virtual targets so as to achieve vehicle coordination. At the path-following level, the controller derived exhibits an inner-outer loop structure. Convergence and stability of the overall system are proved formally. Simulations results are presented and discussed.
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