Título Formation Control of Autonomous Underwater Vehicles Subject to Communication Delays
Autores MILLÁN GATA, PABLO, ORIHUELA ESPINA, DIEGO LUIS, JURADO FLORES, ISABEL, Rodriguez Rubio, Francisco, MILLÁN GATA, PABLO, ORIHUELA ESPINA, DIEGO LUIS, JURADO FLORES, ISABEL
Publicación externa No
Medio IEEE Trans. Control Syst. Technol.
Alcance Article
Naturaleza Científica
Cuartil JCR 1
Cuartil SJR 1
Impacto JCR 2.47400
Impacto SJR 1.78600
Ámbito Internacional
Fecha de publicacion 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.
Palabras clave Autonomous underwater vehicles (AUVs); communication delays; formation control; feedforward control; H-2/H-infinity control
Miembros de la Universidad Loyola

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