MILLÁN GATA, PABLO, ORIHUELA ESPINA, DIEGO LUIS, JURADO FLORES, ISABEL, Rodriguez Rubio, Francisco

No

IEEE Trans. Control Syst. Technol.

Article

Científica

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✓

2.474

1.786

https://www.scopus.com/inward/record.uri?eid=2-s2.0-84896845750&doi=10.1109%2fTCST.2013.2262768&partnerID=40&md5=0339a0b91d7b9dc4bd9710ed192353ce

01/03/2014

000331965600031

2-s2.0-84896845750

10.1109/TCST.2013.2262768

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.

Autonomous underwater vehicles (AUVs); communication delays; formation control; feedforward control; H-2/H-infinity control

• PABLO MILLÁN GATA
• ISABEL JURADO FLORES