Paper Info
Title
Synchronization of multiple autonomous underwater vehicles without velocity measurements
Abstract
In this paper,we investigate the synchronization control of multiple autonomous underwater vehicles (AUVs),considering both state feedback and output feedback cases.Treating multiple AUVs as a graph,we define the tracking error of each AUV with both its own tracking error and the relative position errors with respect to its neighbors taken into account.Lyapunov analysis is used to derive the control law for each AUV.For the output feedback case,a passive filter is used to compensate for the unknown relative velocity errors among AUVs,and an observer is employed to estimate the velocity of the AUV itself.Rigid mathematical proof is provided for the proposed algorithms for both state feedback and output feedback cases.Simulations are provided to demonstrate the effectiveness of the proposed approach.It is shown that,the synchronization error is smaller in the case of considering the relative errors between AUVs than in the case of considering the tracking error of the single AUV only.
Year
DOI
Venue
2012
10.1007/s11432-012-4579-6
SCIENCE CHINA Information Sciences
Keywords
Field
DocType
autonomous underwater vehicle,synchronization,formation control,tracking control
Lyapunov function,Synchronization,Electronic filter,Control theory,Mathematical proof,Observer (quantum physics),Relative velocity,Mathematics,Tracking error,Underwater
Journal
Volume
Issue
ISSN
55
7
1869-1919
Citations 
PageRank 
References 
12
0.67
19
Authors
3
Name
Order
Citations
PageRank
Rongxin Cui133014.59
Weisheng Yan231527.76
demin xu3191.48