Adaptive Formation Control of Unmanned Underwater Vehicles with Collision Avoidance under Unknown Disturbances

Adaptive Formation Control of Unmanned Underwater Vehicles with Collision Avoidance under Unknown Disturbances

In this paper, the formation control problem for a group of unmanned underwater vehicles (UUVs) is investigated considering collision avoidance and environment disturbances. To address the external force effect of the environment, such as waves and currents, a sliding mode disturbance observer is de...

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Bibliographic Details
Main Authors: Zheping Yan, Anzuo Jiang, Chonglang Lai
Format: Article
Language:English
Published: MDPI AG 2022-04-01
Series:Journal of Marine Science and Engineering
Subjects:
multiple unmanned underwater vehicles
formation control
collision avoidance
adaptive sliding mode disturbance observer
Online Access:https://www.mdpi.com/2077-1312/10/4/516

Internet

https://www.mdpi.com/2077-1312/10/4/516

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