Journal
OCEAN ENGINEERING
Volume 151, Issue -, Pages 105-114Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2018.01.032
Keywords
Underactuated underwater vehicle; Formation control; Small gain method; Nonlinear control
Funding
- Program in the Youth Elite Support Plan in Universities of Anhui Province [gxyq2017042]
- National Natural Science Foundation of China [61702007]
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This paper proposes a distributed formation tacking controller for multiple underactuated underwater vehicles (UUVs) which move in three dimensional space. The formation controller designing process is divided into two parts. In the first part, the condition which the formation controller must be satisfied is given. And the controllers are designed to ensure the condition mentioned before. In the second part, decentralized formation controller are proposed, and the stability analysis based on small gain theorem is introduced. Simulation results illustrate that the designed controller can track three-dimensional formation trajectory accurately.
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