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

Erfu Yang; Dongbing Gu; Huosheng Hu

doi:10.1109/ICMA.2005.1626850

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

Erfu Yang, Dongbing Gu, Huosheng Hu

Design, Manufacturing And Engineering Management

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
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	https://doi.org/10.1109/ICMA.2005.1626850
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
Country	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

Access to Document

10.1109/ICMA.2005.1626850

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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, & 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). 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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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.",

keywords = "autonomous underwater vehicles (AUVs), formation control, Hamilton-Jacobi-Isaacs (HJI) equation, performance improvement, successive Galerkin approximation",

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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 proceeding › Conference 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