Robust Formation Control for Multiple Underwater Vehicles

Robust Formation Control for Multiple Underwater Vehicles

This paper addresses the distance-based formation control problem for multiple Autonomous Underwater Vehicles (AUVs) in a leader-follower architecture. The leading AUV is assigned a task to track a desired trajectory and the following AUVs try to set up a predefined formation structure by attaining...

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Bibliographic Details
Main Authors: Charalampos P. Bechlioulis, Fotis Giagkas, George C. Karras, Kostas J. Kyriakopoulos
Format: Article
Language:English
Published: Frontiers Media S.A. 2019-09-01
Series:Frontiers in Robotics and AI
Subjects:
autonomous underwater vehicles
multi-agent systems
distance-based formation
prescribed performance control
decentralized control
Online Access:https://www.frontiersin.org/article/10.3389/frobt.2019.00090/full

Internet

https://www.frontiersin.org/article/10.3389/frobt.2019.00090/full

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