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 language | English |
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| Title of host publication | 2005 IEEE International Conference on Mechatronics and Automation |
| Subtitle of host publication | July 20 to August 1, 2005, Niagara Falls, Ontario, Canada : conference proceedings |
| Editors | Jason Gu, Peter X. Liu |
| Place of Publication | Piscataway, NJ. |
| Publisher | IEEE |
| Pages | 1890-1895 |
| Number of pages | 6 |
| Volume | 4 |
| ISBN (Print) | 078039044X |
| DOIs | |
| Publication status | Published - 1 Jul 2005 |
| Event | IEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, United Kingdom Duration: 29 Jul 2005 → 1 Aug 2005 |
Conference
| Conference | IEEE International Conference on Mechatronics and Automation, ICMA 2005 |
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| Country/Territory | United Kingdom |
| City | Niagara Falls, ON |
| Period | 29/07/05 → 1/08/05 |
Keywords
- autonomous underwater vehicles (AUVs)
- formation control
- Hamilton-Jacobi-Isaacs (HJI) equation
- performance improvement
- successive Galerkin approximation