Formation Control of Autonomous Underwater Vehicles Subject to Communication Delays

This paper addresses the formation control problem for fleets of autonomous underwater vehicles (AUVs). The solution is based on the virtual leader approach, with the main goal of designing a control system to cope with the inter-vehicle communication problems, especially significant in underwater e...

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Bibliographic Details
Published inIEEE transactions on control systems technology Vol. 22; no. 2; pp. 770 - 777
Main Authors Millan, Pablo, Orihuela, Luis, Jurado, Isabel, Rubio, Francisco Rodriguez
Format Journal Article
LanguageEnglish
Published New York IEEE 01.03.2014
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Autonomous underwater vehicles
Autonomous underwater vehicles (AUVs)
communication delays
Communication systems
Control systems
Control theory
Delay
Delays
Feedforward
feedforward control
Feedforward systems
Formation control
H_{2}/H_{\infty} control
Kinematics
Strategy
Turning
Vehicle dynamics
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Summary:This paper addresses the formation control problem for fleets of autonomous underwater vehicles (AUVs). The solution is based on the virtual leader approach, with the main goal of designing a control system to cope with the inter-vehicle communication problems, especially significant in underwater environments. The use of kinematic relations allows the linearization of the AUV dynamics maintaining its turning capacities. The control strategy consists of a feedback H_{2}/H_{\infty} controller in combination with a feedforward controller, which makes it possible to deal with delays and packets dropouts while ensuring a good formation control performance.
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ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2013.2262768