| Title |
Formation Control of Autonomous Underwater Vehicles Subject to Communication Delays |
| Authors |
MILLÁN GATA, PABLO, ORIHUELA ESPINA, DIEGO LUIS, JURADO FLORES, ISABEL, Rodriguez Rubio, Francisco |
| External publication |
No |
| Means |
IEEE Trans Control Syst Technol |
| Scope |
Article |
| Nature |
Científica |
| JCR Quartile |
1 |
| SJR Quartile |
1 |
| JCR Impact |
2.47400 |
| SJR Impact |
1.78600 |
| Web |
https://www.scopus.com/inward/record.uri?eid=2-s2.0-84896845750&doi=10.1109%2fTCST.2013.2262768&partnerID=40&md5=0339a0b91d7b9dc4bd9710ed192353ce |
| Publication date |
01/03/2014 |
| ISI |
000331965600031 |
| Scopus Id |
2-s2.0-84896845750 |
| DOI |
10.1109/TCST.2013.2262768 |
| Abstract |
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-infinity 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. |
| Keywords |
Autonomous underwater vehicles (AUVs); communication delays; formation control; feedforward control; H-2/H-infinity control |
| Universidad Loyola members |
|
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