Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles
In order to deal with coordination control for multiple autonomous underwater vehicles (AUVs), a three-dimensional coordination control scheme is proposed by combining sliding mode control, backstepping technique, and leader-follower strategy. A virtual trajectory is introduced to decrease the infor...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8710241/ |
| _version_ | 1818874757146214400 |
|---|---|
| author | Jingwei Bian Ji Xiang |
| author_facet | Jingwei Bian Ji Xiang |
| author_sort | Jingwei Bian |
| collection | DOAJ |
| description | In order to deal with coordination control for multiple autonomous underwater vehicles (AUVs), a three-dimensional coordination control scheme is proposed by combining sliding mode control, backstepping technique, and leader-follower strategy. A virtual trajectory is introduced to decrease the information exchange between AUVs. Global leader motion and follower controller constitute the coordination control scheme and are verified by a triangular prism formation simulation of six AUVs. The simulation results demonstrate that the controllers are capable of coordinating AUVs to achieve the desired formation and the coordination control scheme is effective. |
| first_indexed | 2024-12-19T13:15:40Z |
| format | Article |
| id | doaj.art-7602409b1afb40c6b03870303ff16159 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T13:15:40Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-7602409b1afb40c6b03870303ff161592022-12-21T20:19:50ZengIEEEIEEE Access2169-35362019-01-017639136392010.1109/ACCESS.2019.29159338710241Three-Dimensional Coordination Control for Multiple Autonomous Underwater VehiclesJingwei Bian0https://orcid.org/0000-0001-7825-4084Ji Xiang1College of Electrical Engineering, Zhejiang University, Hangzhou, ChinaCollege of Electrical Engineering, Zhejiang University, Hangzhou, ChinaIn order to deal with coordination control for multiple autonomous underwater vehicles (AUVs), a three-dimensional coordination control scheme is proposed by combining sliding mode control, backstepping technique, and leader-follower strategy. A virtual trajectory is introduced to decrease the information exchange between AUVs. Global leader motion and follower controller constitute the coordination control scheme and are verified by a triangular prism formation simulation of six AUVs. The simulation results demonstrate that the controllers are capable of coordinating AUVs to achieve the desired formation and the coordination control scheme is effective.https://ieeexplore.ieee.org/document/8710241/Autonomous underwater vehicle (AUV)three-dimensional coordination controlsliding mode controlbackstepping techniqueleader-follower strategyvirtual trajectory |
| spellingShingle | Jingwei Bian Ji Xiang Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles IEEE Access Autonomous underwater vehicle (AUV) three-dimensional coordination control sliding mode control backstepping technique leader-follower strategy virtual trajectory |
| title | Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles |
| title_full | Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles |
| title_fullStr | Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles |
| title_full_unstemmed | Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles |
| title_short | Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles |
| title_sort | three dimensional coordination control for multiple autonomous underwater vehicles |
| topic | Autonomous underwater vehicle (AUV) three-dimensional coordination control sliding mode control backstepping technique leader-follower strategy virtual trajectory |
| url | https://ieeexplore.ieee.org/document/8710241/ |
| work_keys_str_mv | AT jingweibian threedimensionalcoordinationcontrolformultipleautonomousunderwatervehicles AT jixiang threedimensionalcoordinationcontrolformultipleautonomousunderwatervehicles |