Multi-AUV Formation Predictive Control Based on CNN-LSTM under Communication Constraints

Multi-AUV Formation Predictive Control Based on CNN-LSTM under Communication Constraints

For the problem of hydroacoustic communication constraints in multi-AUV leader follower formation, this paper designs a formation control method combining CNN-LSTM prediction and backstepping sliding mode control. First, a feedback linearization method is used to transform the AUV nonlinear model in...

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Bibliographic Details
Main Authors:	Juan Li, Zhenyang Tian, Gengshi Zhang, Wenbo Li
Format:	Article
Language:	English
Published:	MDPI AG 2023-04-01
Series:	Journal of Marine Science and Engineering
Subjects:	formation control communication constraints feedback linearization CNN-LSTM prediction backstepping slide control
Online Access:	https://www.mdpi.com/2077-1312/11/4/873

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