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Adaptive Formation Control of Multiple Underactuated Autonomous Underwater Vehicles

التفاصيل البيبلوغرافية
العنوان: Adaptive Formation Control of Multiple Underactuated Autonomous Underwater Vehicles
المؤلفون: Ji-Hong Li, Hyungjoo Kang, Min-Gyu Kim, Mun-Jik Lee, Gun Rae Cho, Han-Sol Jin
المصدر: Journal of Marine Science and Engineering, Vol 10, Iss 9, p 1233 (2022)
بيانات النشر: MDPI AG, 2022.
سنة النشر: 2022
المجموعة: LCC:Naval architecture. Shipbuilding. Marine engineering
LCC:Oceanography
مصطلحات موضوعية: formation control, underactuated systems, potential field method, Lyapunov direct method, robust adaptive control, Naval architecture. Shipbuilding. Marine engineering, VM1-989, Oceanography, GC1-1581
الوصف: In this paper, we present a 3D formation control scheme for a group of torpedo-type underactuated autonomous underwater vehicles (AUVs). These multiple AUVs combined with an unmanned surface vessel (USV) construct a sort of star-topology acoustic communication network where the USV is at the center point. Due to this kind of topological feature, this paper applies a virtual school concept. This is a geometric graph where each node is taken as a virtual leader for each specific AUV and assigned its own reference trajectory. For each individual vehicle, its formation strategy is simple: just follow the trajectory of its corresponding virtual leader so as for multiple AUVs to compose the given formation. As for the formation subject, this paper mainly focuses on the formation tracking problem rather than the formation producing. For the torpedo-type vehicle considered in this paper, there are only three control inputs (surge force, pitch, and yaw moments) available for its underwater 3D motion and therefore this is a typical underactuated system. For the following vehicle’s trajectory, a sort of potential field method is used for obstacle avoidance, and a neural network-based adaptive scheme is applied to on-line approximate the vehicle’s unknown nonlinear dynamics, and the uncertainty terms including modeling errors, measurement noises, and external disturbances are handled by the properly designed robust scheme. The proposed formation method can guarantee the uniform ultimate boundedness (UUB) of the closed-loop system. Numerical studies are also carried out to verify the effectiveness of the proposed scheme.
نوع الوثيقة: article
وصف الملف: electronic resource
اللغة: English
تدمد: 2077-1312
Relation: https://www.mdpi.com/2077-1312/10/9/1233; https://doaj.org/toc/2077-1312
DOI: 10.3390/jmse10091233
URL الوصول: https://doaj.org/article/fce5c0ddf4ac4adeb313e332c2f6d1ac
رقم الأكسشن: edsdoj.fce5c0ddf4ac4adeb313e332c2f6d1ac
قاعدة البيانات: Directory of Open Access Journals
الوصف
تدمد:20771312
DOI:10.3390/jmse10091233