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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| Format: | Article |
| Language: | English |
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MDPI AG
2022-09-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/10/9/1233 |
| _version_ | 1797486404138172416 |
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| author | Ji-Hong Li Hyungjoo Kang Min-Gyu Kim Mun-Jik Lee Gun Rae Cho Han-Sol Jin |
| author_facet | Ji-Hong Li Hyungjoo Kang Min-Gyu Kim Mun-Jik Lee Gun Rae Cho Han-Sol Jin |
| author_sort | Ji-Hong Li |
| collection | DOAJ |
| description | 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 point. Due to this kind of topological feature, this paper applies a virtual school concept. This is a geometric graph where each node is taken as a virtual leader for each specific AUV and assigned its own reference trajectory. For each individual vehicle, its formation strategy is simple: just follow the trajectory of its corresponding virtual leader so as for multiple AUVs to compose the given formation. As for the formation subject, this paper mainly focuses on the formation tracking problem rather than the formation producing. For the torpedo-type vehicle considered in this paper, there are only three control inputs (surge force, pitch, and yaw moments) available for its underwater 3D motion and therefore this is a typical underactuated system. For the following vehicle’s trajectory, a sort of potential field method is used for obstacle avoidance, and a neural network-based adaptive scheme is applied to on-line approximate the vehicle’s unknown nonlinear dynamics, and the uncertainty terms including modeling errors, measurement noises, and external disturbances are handled by the properly designed robust scheme. The proposed formation method can guarantee the uniform ultimate boundedness (UUB) of the closed-loop system. Numerical studies are also carried out to verify the effectiveness of the proposed scheme. |
| first_indexed | 2024-03-09T23:32:44Z |
| format | Article |
| id | doaj.art-fce5c0ddf4ac4adeb313e332c2f6d1ac |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T23:32:44Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-fce5c0ddf4ac4adeb313e332c2f6d1ac2023-11-23T17:06:54ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-09-01109123310.3390/jmse10091233Adaptive Formation Control of Multiple Underactuated Autonomous Underwater VehiclesJi-Hong Li0Hyungjoo Kang1Min-Gyu Kim2Mun-Jik Lee3Gun Rae Cho4Han-Sol Jin5Intelligent Robotics R&D Division, Korea Institute of Robotics and Technology Convergence, Jigok-Ro 39, Nam-Gu, Pohang 37666, KoreaIntelligent Robotics R&D Division, Korea Institute of Robotics and Technology Convergence, Jigok-Ro 39, Nam-Gu, Pohang 37666, KoreaIntelligent Robotics R&D Division, Korea Institute of Robotics and Technology Convergence, Jigok-Ro 39, Nam-Gu, Pohang 37666, KoreaIntelligent Robotics R&D Division, Korea Institute of Robotics and Technology Convergence, Jigok-Ro 39, Nam-Gu, Pohang 37666, KoreaIntelligent Robotics R&D Division, Korea Institute of Robotics and Technology Convergence, Jigok-Ro 39, Nam-Gu, Pohang 37666, KoreaIntelligent Robotics R&D Division, Korea Institute of Robotics and Technology Convergence, Jigok-Ro 39, Nam-Gu, Pohang 37666, KoreaIn 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 point. Due to this kind of topological feature, this paper applies a virtual school concept. This is a geometric graph where each node is taken as a virtual leader for each specific AUV and assigned its own reference trajectory. For each individual vehicle, its formation strategy is simple: just follow the trajectory of its corresponding virtual leader so as for multiple AUVs to compose the given formation. As for the formation subject, this paper mainly focuses on the formation tracking problem rather than the formation producing. For the torpedo-type vehicle considered in this paper, there are only three control inputs (surge force, pitch, and yaw moments) available for its underwater 3D motion and therefore this is a typical underactuated system. For the following vehicle’s trajectory, a sort of potential field method is used for obstacle avoidance, and a neural network-based adaptive scheme is applied to on-line approximate the vehicle’s unknown nonlinear dynamics, and the uncertainty terms including modeling errors, measurement noises, and external disturbances are handled by the properly designed robust scheme. The proposed formation method can guarantee the uniform ultimate boundedness (UUB) of the closed-loop system. Numerical studies are also carried out to verify the effectiveness of the proposed scheme.https://www.mdpi.com/2077-1312/10/9/1233formation controlunderactuated systemspotential field methodLyapunov direct methodrobust adaptive control |
| spellingShingle | Ji-Hong Li Hyungjoo Kang Min-Gyu Kim Mun-Jik Lee Gun Rae Cho Han-Sol Jin Adaptive Formation Control of Multiple Underactuated Autonomous Underwater Vehicles Journal of Marine Science and Engineering formation control underactuated systems potential field method Lyapunov direct method robust adaptive control |
| title | Adaptive Formation Control of Multiple Underactuated Autonomous Underwater Vehicles |
| title_full | Adaptive Formation Control of Multiple Underactuated Autonomous Underwater Vehicles |
| title_fullStr | Adaptive Formation Control of Multiple Underactuated Autonomous Underwater Vehicles |
| title_full_unstemmed | Adaptive Formation Control of Multiple Underactuated Autonomous Underwater Vehicles |
| title_short | Adaptive Formation Control of Multiple Underactuated Autonomous Underwater Vehicles |
| title_sort | adaptive formation control of multiple underactuated autonomous underwater vehicles |
| topic | formation control underactuated systems potential field method Lyapunov direct method robust adaptive control |
| url | https://www.mdpi.com/2077-1312/10/9/1233 |
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