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, MILLÁN GATA, PABLO, ORIHUELA ESPINA, DIEGO LUIS, JURADO FLORES, ISABEL
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
Area International
Publication date 01/02/2014
ISI 000331965600031
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
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