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Research Papers

Robust Control of Formation Dynamics for Autonomous Underwater Vehicles in Horizontal Plane

[+] Author and Article Information
Huizhen Yang

Department of Mechanical Engineering and Automatic Control,  Northwestern Polytechnical University, Xi’an, China 710072rainsun_ly@nwpu.edu.cn

Fumin Zhang

School of Electrical and Computer Engineering,  Georgia Institute of Technology, Atlanta, GA 30332fumin@ece.gatech.edu

J. Dyn. Sys., Meas., Control 134(3), 031009 (Mar 27, 2012) (7 pages) doi:10.1115/1.4005507 History: Received April 20, 2011; Revised October 05, 2011; Published March 27, 2012; Online March 27, 2012

This paper presents a novel robust controller design for formation control of autonomous underwater vehicles (AUVs). We consider a nonlinear three-degree-of-freedom dynamic model for the horizontal motion of each AUV. By using the Jacobi transform, the horizontal dynamics of AUVs are explicitly expressed as dynamics for formation shape and formation center, and are further decoupled by feedback control. We treat the coupling terms as perturbations to the decoupled system. An H-infinity state feedback controller is designed to achieve robust stability of the closed loop formation and translation dynamics. By incorporating an orientation controller, the formation shape under control converges and the formation center tracks a desired trajectory simultaneously. Simulation results demonstrate the effectiveness of the controllers.

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Copyright © 2012 by American Society of Mechanical Engineers
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Figures

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Figure 1

Triangle formation shape of three AUVs

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Figure 2

Three AUVs form a triangular formation moving on a sinusoidal line

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Figure 3

Yaw angle velocity matching of the AUVs

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Figure 4

Value of γ-1λ2+2

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Figure 5

Six AUVs form a hexagonal formation moving on a desired trajectory

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