Leader-follower formation control of underactuated AUVs with leader position measurement

Author

Cui, Rongxin ; Shuzhi Sam Ge ; Voon Ee How, B. ; Sang Choo, Yoo

Author_Institution

Centre for Offshore Res. & Eng., Nat. Univ. of Singapore, Singapore, Singapore

fYear

2009

fDate

12-17 May 2009

Firstpage

979

Lastpage

984

Abstract

In this paper, we investigate the leader-follower formation control of underactuated autonomous underwater vehicles (AUVs). By using position measurements from the leader, we design a virtual vehicle such that the trajectory of the virtual vehicle converges to the reference trajectory of the follower. A position tracking control is designed for the follower to track the virtual vehicle using Lyapunov and backstepping synthesis. Simulation results demonstrated the effectiveness of the proposed scheme.

Keywords

Lyapunov methods; control system synthesis; mobile robots; multi-robot systems; position control; remotely operated vehicles; tracking; underwater vehicles; Lyapunov method; backstepping synthesis; leader position measurement; leader-follower formation control; position tracking control design; underactuated AUV; underactuated autonomous underwater vehicle; virtual vehicle design; Automatic control; Backstepping; Communication system control; Mobile robots; Oceans; Position measurement; Remotely operated vehicles; Trajectory; Underwater tracking; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Conference_Location

Kobe

ISSN

1050-4729

Print_ISBN

978-1-4244-2788-8

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2009.5152566

Filename

5152566