Adaptive Formation Control of Multiple Underactuated Autonomous Underwater Vehicles

Adaptive Formation Control of Multiple Underactuated Autonomous Underwater Vehicles

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...

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Bibliographic Details
Main Authors: Ji-Hong Li, Hyungjoo Kang, Min-Gyu Kim, Mun-Jik Lee, Gun Rae Cho, Han-Sol Jin
Format: Article
Language:English
Published: MDPI AG 2022-09-01
Series:Journal of Marine Science and Engineering
Subjects:
formation control
underactuated systems
potential field method
Lyapunov direct method
robust adaptive control
Online Access:https://www.mdpi.com/2077-1312/10/9/1233

Internet

https://www.mdpi.com/2077-1312/10/9/1233

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