Formation Control of Autonomous Underwater Vehicles Subject to Communication Delays
Formation Control of Autonomous Underwater Vehicles Subject to Communication Delays
复制标题
DOI：
10.1109/tcst.2013.2262768
复制
发表时间：
2014-03
影响因子：
4.8
通讯作者：
P. Millán;L. Orihuela;I. Jurado;F. Rubio
中科院分区：
文献类型：
--
作者：
P. Millán;L. Orihuela;I. Jurado;F. Rubio
本文研究了自主水下航行器（AUV）船队的编队控制问题。该解决方案是基于虚拟领导者的方法，与设计一个控制系统，以科普车辆间的通信问题，特别是在水下环境中显着的主要目标。运动学关系的使用允许AUV动力学的线性化，保持其转弯能力。该控制策略由一个反馈H2/H∞控制器和一个前馈控制器组成，在保证良好的编队控制性能的同时，能够处理时延和丢包问题。
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 H2/H∞ 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.