Name
Title | ||
|---|---|---|
Leader-follower formation control of underactuated AUVs with leader position measurement |
Abstract | ||
|---|---|---|
In this paper, we investigate the leader-follower formation control of underactuated autonomous underwater vehicles (AUVs). By using position measurements from the leader, we design a virtual vehicle such that the trajectory of the virtual vehicle converges to the reference trajectory of the follower. A position tracking control is designed for the follower to track the virtual vehicle using Lyapunov and backstepping synthesis. Simulation results demonstrated the effectiveness of the proposed scheme. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBOT.2009.5152566 | ICRA |
Keywords | Field | DocType |
underactuated auv,lyapunov method,position tracking control,leader-follower formation control,control system synthesis,mobile robots,multi-robot systems,virtual vehicle design,position tracking control design,underactuated auvs,virtual vehicle converges,proposed scheme,tracking,underactuated autonomous underwater vehicle,leader position measurement,position measurement,virtual vehicle,simulation result,position control,backstepping synthesis,remotely operated vehicles,reference trajectory,lyapunov methods,underwater vehicles,underactuated autonomous underwater vehicles,automatic control,vehicle dynamics,data mining,backstepping,lead,probability density function,trajectory | Remotely operated underwater vehicle,Lyapunov function,Backstepping,Control theory,Control engineering,Vehicle dynamics,Engineering,Underactuation,Trajectory,Mobile robot,Underwater | Conference |
Volume | Issue | ISSN |
2009 | 1 | 1050-4729 E-ISBN : 978-1-4244-2789-5 |
ISBN | Citations | PageRank |
978-1-4244-2789-5 | 2 | 0.65 |
References | Authors | |
9 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Rongxin Cui | 1 | 330 | 14.59 |
| Shuzhi Sam Ge | 2 | 7786 | 444.41 |
| Bernard Voon Ee How | 3 | 617 | 25.00 |
| Yoo Sang Choo | 4 | 359 | 18.41 |