Formation Path Following Control of Underactuated AUVs

This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow curved paths while maintaining the desired formation. We inve...

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Bibliographic Details
Published in2022 European Control Conference (ECC) pp. 510 - 517
Main Authors Matous, Josef, Pettersen, Kristin Y., Paliotta, Claudio
Format Conference Proceeding
LanguageEnglish
Published EUCA 12.07.2022
Subjects
Autonomous underwater vehicles
Behavioral sciences
Closed loop systems
Error correction codes
Europe
Numerical simulation
Vehicle dynamics
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Summary:This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow curved paths while maintaining the desired formation. We investigate the dynamics of the path-following error using cascaded systems theory and show that the closed-loop system is uniformly semi-globally exponentially stable. We validate the theoretical results through numerical simulations.
DOI:10.23919/ECC55457.2022.9838029