Title :
A formation flying algorithm for autonomous underwater vehicles
Author :
Kempker, Pia L. ; Ran, André C M ; Van Schuppen, Jan H.
Author_Institution :
Dept. of Math., VU Univ. Amsterdam, Amsterdam, Netherlands
Abstract :
A control algorithm for the problem of formation flying for autonomous underwater vehicles is presented. Using a restrictive communication scheme and LQ optimal control, the control algorithm respects the limitations of underwater communication and on-board computing power. The influence of restricting communications on the performance of the control algorithm is illustrated by a simulation.
Keywords :
autonomous underwater vehicles; linear quadratic control; LQ optimal control; autonomous underwater vehicles; formation flying algorithm; on-board computing; restrictive communication scheme; Acceleration; Computational modeling; Observers; Optimal control; Trajectory; Vehicle dynamics; Vehicles;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160428
