DocumentCode :
1850235
Title :
An adaptive leader-follower formation controller for multiple AUVs in spatial motions
Author :
Emrani, Saba ; Dirafzoon, Alireza ; Talebi, H.A. ; Nikravesh, S. K Yadavar ; Menhaj, M.B.
Author_Institution :
Amirkabir Univ. of Technol., Tehran, Iran
fYear :
2010
fDate :
7-10 Nov. 2010
Firstpage :
59
Lastpage :
64
Abstract :
This paper considers the problem of leader-follower formation control for multiple Autonomous Underwater Vehicles (AUVs) in spatial motions. The objective is to derive a leader robot along a desired trajectory, and make the follower robots keep a desired formation with respect to the leader´s configuration in 3-dimensional spaces. Unlike previous studies on formation control of multiple AUVs, hydrodynamic parameter uncertainties of the AUVs is incorporated into the formation control law. To deal with such uncertainties, an adaptive control rule mainly based on inverse dynamics of the plant is developed. A Lyaponov based close-loop stability analysis is also fully presented in the paper. In order to approve the capability of the proposed controller, some illustrative cases are considered. The results of the simulations are very promising.
Keywords :
Lyapunov methods; adaptive control; closed loop systems; hydrodynamics; mobile robots; motion control; position control; robot dynamics; uncertain systems; underwater vehicles; vehicle dynamics; Lyaponov based close-loop stability analysis; adaptive control rule; adaptive leader-follower formation controller; desired trajectory; follower robots; formation control law; hydrodynamic parameter uncertainty; inverse dynamics; leader robot; multiple AUV; multiple autonomous underwater vehicles; spatial motions; Equations; Lead; Mathematical model; Robots; Trajectory; Vectors; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society
Conference_Location :
Glendale, AZ
ISSN :
1553-572X
Print_ISBN :
978-1-4244-5225-5
Electronic_ISBN :
1553-572X
Type :
conf
DOI :
10.1109/IECON.2010.5675368
Filename :
5675368
Link To Document :
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