Improving the formation-keeping performance of multiple autonomous underwater robotic vehicles

Erfu Yang, Dongbing Gu, Huosheng Hu

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

3 Citations (Scopus)

Abstract

This paper presents the application of the successive Galerkin approximation (SGA) approach to the nonlinear optimal and robust formation control of multiple autonomous underwater robotic vehicles (AURVs). A nonlinear change of coordinates and feedback is made such that the SGA algorithm developed for time-invariant nonlinear systems can be implemented to the formation control system under consideration in this paper. The formation-keeping performance is significantly improved by solving the associated Hamilton-Jacobi-Isaacs (HJI) equation with the SGA algorithm. The synthesized formation-keeping controller also has optimal and robust properties in comparison with the original control law designed for the formation system by using Lyapunov's direct method. Simulation results are presented to demonstrate the improved formation-keeping performance of a leader-follower formation of AURVs in nonholonomic chained form.

Original languageEnglish
Title of host publication2005 IEEE International Conference on Mechatronics and Automation
Subtitle of host publicationJuly 20 to August 1, 2005, Niagara Falls, Ontario, Canada : conference proceedings
EditorsJason Gu, Peter X. Liu
Place of PublicationPiscataway, NJ.
PublisherIEEE
Pages1890-1895
Number of pages6
Volume4
ISBN (Print)078039044X
DOIs
Publication statusPublished - 1 Jul 2005
EventIEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, United Kingdom
Duration: 29 Jul 20051 Aug 2005

Conference

ConferenceIEEE International Conference on Mechatronics and Automation, ICMA 2005
CountryUnited Kingdom
CityNiagara Falls, ON
Period29/07/051/08/05

Fingerprint

Approximation algorithms
Robotics
Nonlinear systems
Feedback
Control systems
Controllers

Keywords

  • autonomous underwater vehicles (AUVs)
  • formation control
  • Hamilton-Jacobi-Isaacs (HJI) equation
  • performance improvement
  • successive Galerkin approximation

Cite this

Yang, E., Gu, D., & Hu, H. (2005). Improving the formation-keeping performance of multiple autonomous underwater robotic vehicles. In J. Gu, & P. X. Liu (Eds.), 2005 IEEE International Conference on Mechatronics and Automation: July 20 to August 1, 2005, Niagara Falls, Ontario, Canada : conference proceedings (Vol. 4, pp. 1890-1895). Piscataway, NJ.: IEEE. https://doi.org/10.1109/ICMA.2005.1626850
Yang, Erfu ; Gu, Dongbing ; Hu, Huosheng. / Improving the formation-keeping performance of multiple autonomous underwater robotic vehicles. 2005 IEEE International Conference on Mechatronics and Automation: July 20 to August 1, 2005, Niagara Falls, Ontario, Canada : conference proceedings. editor / Jason Gu ; Peter X. Liu. Vol. 4 Piscataway, NJ. : IEEE, 2005. pp. 1890-1895
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Yang, E, Gu, D & Hu, H 2005, Improving the formation-keeping performance of multiple autonomous underwater robotic vehicles. in J Gu & PX Liu (eds), 2005 IEEE International Conference on Mechatronics and Automation: July 20 to August 1, 2005, Niagara Falls, Ontario, Canada : conference proceedings. vol. 4, IEEE, Piscataway, NJ., pp. 1890-1895, IEEE International Conference on Mechatronics and Automation, ICMA 2005, Niagara Falls, ON, United Kingdom, 29/07/05. https://doi.org/10.1109/ICMA.2005.1626850

Improving the formation-keeping performance of multiple autonomous underwater robotic vehicles. / Yang, Erfu; Gu, Dongbing; Hu, Huosheng.

2005 IEEE International Conference on Mechatronics and Automation: July 20 to August 1, 2005, Niagara Falls, Ontario, Canada : conference proceedings. ed. / Jason Gu; Peter X. Liu. Vol. 4 Piscataway, NJ. : IEEE, 2005. p. 1890-1895.

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

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N2 - This paper presents the application of the successive Galerkin approximation (SGA) approach to the nonlinear optimal and robust formation control of multiple autonomous underwater robotic vehicles (AURVs). A nonlinear change of coordinates and feedback is made such that the SGA algorithm developed for time-invariant nonlinear systems can be implemented to the formation control system under consideration in this paper. The formation-keeping performance is significantly improved by solving the associated Hamilton-Jacobi-Isaacs (HJI) equation with the SGA algorithm. The synthesized formation-keeping controller also has optimal and robust properties in comparison with the original control law designed for the formation system by using Lyapunov's direct method. Simulation results are presented to demonstrate the improved formation-keeping performance of a leader-follower formation of AURVs in nonholonomic chained form.

AB - This paper presents the application of the successive Galerkin approximation (SGA) approach to the nonlinear optimal and robust formation control of multiple autonomous underwater robotic vehicles (AURVs). A nonlinear change of coordinates and feedback is made such that the SGA algorithm developed for time-invariant nonlinear systems can be implemented to the formation control system under consideration in this paper. The formation-keeping performance is significantly improved by solving the associated Hamilton-Jacobi-Isaacs (HJI) equation with the SGA algorithm. The synthesized formation-keeping controller also has optimal and robust properties in comparison with the original control law designed for the formation system by using Lyapunov's direct method. Simulation results are presented to demonstrate the improved formation-keeping performance of a leader-follower formation of AURVs in nonholonomic chained form.

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Yang E, Gu D, Hu H. Improving the formation-keeping performance of multiple autonomous underwater robotic vehicles. In Gu J, Liu PX, editors, 2005 IEEE International Conference on Mechatronics and Automation: July 20 to August 1, 2005, Niagara Falls, Ontario, Canada : conference proceedings. Vol. 4. Piscataway, NJ.: IEEE. 2005. p. 1890-1895 https://doi.org/10.1109/ICMA.2005.1626850