SYNCHRONIZED PATH FOLLOWING CONTROL OF MULTIPLE HOMOGENOUS UNDERACTUATED AUVS

Xianbo XIANG , Chao LIU, Lionel LAPIERRE, Bruno JOUVENCEL

Journal of Systems Science & Complexity ›› 2012, Vol. 25 ›› Issue (1) : 71-89.

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Journal of Systems Science & Complexity ›› 2012, Vol. 25 ›› Issue (1) : 71-89. DOI: 10.1007/s11424-012-0109-2
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SYNCHRONIZED PATH FOLLOWING CONTROL OF MULTIPLE HOMOGENOUS UNDERACTUATED AUVS

  • Xianbo XIANG 1, Chao LIU2, Lionel LAPIERRE2, Bruno JOUVENCEL2
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Abstract

This paper addresses the problem of synchronized path following of multiple homogenous underactuated autonomous underwater vehicles (AUVs). The dedicated control laws are categorized into two envelopes: One is steering individual underwater vehicle to track along predefined path, and the other is ensuring tracked paths of multiple vehicles to be synchronized, by means of decentralized speed adaption under the constraints of multi-vehicle communication topology. With these two tasks formulation, geometric path following is built on Lyapunov theory and backstepping techniques, while
injecting helmsman behavior into classic individual path following control. Synchronization of path parameters are reached by using a mixture of tools from linear algebra, graph theory and nonlinear control theory. A simple but effective control design on direct inter-vehicle speed adaption with minimized communication variables, enables the multi-AUV systems  to be synchronized and stabilized into an invariant manifold, and all speeds converge to desired
assignments as a byproduct. Simulation results illustrate the performance of the synchronized path following control laws proposed.

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Xianbo XIANG , Chao LIU, Lionel LAPIERRE, Bruno JOUVENCEL. SYNCHRONIZED PATH FOLLOWING CONTROL OF MULTIPLE HOMOGENOUS UNDERACTUATED AUVS. Journal of Systems Science and Complexity, 2012, 25(1): 71-89 https://doi.org/10.1007/s11424-012-0109-2

Funding

This research was partially supported by the EU FP6 FreeSubNet project under Grant No.036186, the National Science Foundation of China under Grant No.
51079061, and the Key Laboratory of Education Ministry for Image Processing and Intelligent Control, Huazhong University of Science and Technology under Grant No. 200804. The first author was supported by the European Marie Curie Fellowship.

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