Synchronized path following control of multiple homogenous underactuated AUVs |
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Authors: | Xianbo Xiang Chao Liu Lionel Lapierre Bruno Jouvencel |
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Institution: | 1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China 2. Department of Robotics, LIRMM-CNRS-UMII, UMR 5506, 161 rue Ada, Montpellier Cedex, 534095, France 3. Department of Robotics, LIRMM-CNRS, UMR 5506, 161 rue Ada, Montpellier Cedex, 534095, France
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Abstract: | This paper addresses the problem of synchronized path following of multiple homogenous underactuated autonomous underwater
vehicles (AUVs). The dedicated control laws are categorized into two envelopes: One is steering individual underwater vehicle
to track along predefined path, and the other is ensuring tracked paths of multiple vehicles to be synchronized, by means
of decentralized speed adaption under the constraints of multi-vehicle communication topology. With these two tasks formulation,
geometric path following is built on Lyapunov theory and backstepping techniques, while injecting helmsman behavior into classic
individual path following control. Synchronization of path parameters are reached by using a mixture of tools from linear
algebra, graph theory and nonlinear control theory. A simple but effective control design on direct inter-vehicle speed adaption
with minimized communication variables, enables the multi-AUV systems to be synchronized and stabilized into an invariant
manifold, and all speeds converge to desired assignments as a byproduct. Simulation results illustrate the performance of
the synchronized path following control laws proposed. |
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