This paper addresses the problem of synchronized path following of multiple homogenous underaetuated autonomous underwater vehicles （AUVs）. The dedicated control laws are categorized into two envelopes： One is stee...This paper addresses the problem of synchronized path following of multiple homogenous underaetuated autonomous underwater vehicles （AUVs）. The dedicated control laws are categorized into two envelopes： One is steering individual underwater vehicle to track along predefined path, and the other is ensuring tracked paths of multiple vehicles to be synchronized, by means of decentralized speed adaption under the constraints of multi-vehicle communication topology. With these two tasks formulation, geometric path following is built on Lyapunov theory and baekstepping techniques, while injecting helmsman behavior into classic individual path following control. Synchronization of path parameters are reached by using a mixture of tools from linear algebra, graph theory and nonlinear control theory. A simple but effective control design on direct inter-vehicle speed adaption with minimized communication variables, enables the multi-AUV systems to be synchronized and stabilized into an invariant manifold, and all speeds converge to desired assignments as a byproduct. Simulation results illustrate the performance of the synchronized path following control laws proposed.展开更多
基金supported by the EU FP6 FreeSubNet project under Grant No.036186the National Science Foundation of China under Grant No.51079061+1 种基金the Key Laboratory of Education Ministry for Image Processing and Intelligent Control,Huazhong University of Science and Technology under Grant No. 200804supported by the European Marie Curie Fellowship
文摘This paper addresses the problem of synchronized path following of multiple homogenous underaetuated autonomous underwater vehicles （AUVs）. The dedicated control laws are categorized into two envelopes： One is steering individual underwater vehicle to track along predefined path, and the other is ensuring tracked paths of multiple vehicles to be synchronized, by means of decentralized speed adaption under the constraints of multi-vehicle communication topology. With these two tasks formulation, geometric path following is built on Lyapunov theory and baekstepping techniques, while injecting helmsman behavior into classic individual path following control. Synchronization of path parameters are reached by using a mixture of tools from linear algebra, graph theory and nonlinear control theory. A simple but effective control design on direct inter-vehicle speed adaption with minimized communication variables, enables the multi-AUV systems to be synchronized and stabilized into an invariant manifold, and all speeds converge to desired assignments as a byproduct. Simulation results illustrate the performance of the synchronized path following control laws proposed.
