Distributed three‐dimension time‐varying formation control with prescribed performance for multiple underactuated autonomous underwater vehicles

2021 ◽  
Author(s):  
Jian Li ◽  
Jialu Du ◽  
Frank L. Lewis
Keyword(s):  
Formation Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Time Varying ◽  
Three Dimension ◽  
Prescribed Performance

scholarly journals A Collective Control Scheme to Solve Time-varying Formation Control Problem of Multiple Autonomous Underwater Vehicles with Time Delay

2021 ◽  
Author(s):  
Yongnan Jia ◽  
Weicun Zhang
Keyword(s):  
Communication Network ◽  
Time Delay ◽  
Control Problem ◽  
Formation Control ◽  
Autonomous Underwater Vehicles ◽  
Evolutionary Process ◽  
Underwater Vehicles ◽  
Time Varying ◽  
Collective Control ◽  
Control Scheme

Abstract Due to the limitation of complexity and uncertainty of the underwater environment, the related technologies of autonomous underwater vehicles(AUVs) develop slowly. Therefore, an ingenious solution characterized by low cost, convenient operation, and low individual intelligence is urgently required. Inspired from these collective behaviours of gregarious creatures in nature, the coordination control problem of multiple AUVs is endowed with new research significance to complete complex underwater operational tasks. This paper aims to propose a general control scheme to solve the time-varying formation control problem of multiple AUVs that take into account the communication time delay. Firstly, a complete six-degrees-of-freedom dynamical model is applied instead of the real AUVs in the following theoretical analysis and simulation verification. Then, a metric-based nearest neighbour interacted rule is introduced to build the communication network of the system. Periodic sampling technology and zero-order hold loop are adopted to simplify the communication problem of time delay. Based on the above dynamical model and communication mechanism, a distributed collective control protocol is proposed to enable these AUVs asymptotically converge to a desired geometrical configuration on the condition that the initial communication network is undirected and connected. During the evolutionary process, no collision happens between any two AUVs. The formation configuration can be maintained until a simple switching controller works for the configuration transformation tasks. Finally, the simulation results proved the effectiveness of the above collective control scheme and visually exhibited the three-dimensional dynamical evolutionary process.

An Algorithm of Complete Coverage Path Planning for Autonomous Underwater Vehicles

2011 ◽  
Vol 467-469 ◽  
pp. 1377-1385 ◽  
Author(s):  
Ming Zhong Yan ◽  
Da Qi Zhu
Keyword(s):  
Path Planning ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Time Varying ◽  
Simulation Studies ◽  
Complete Coverage ◽  
Biologically Inspired ◽  
Coverage Path Planning ◽  
Underwater Environment ◽  
Global Cost

Complete coverage path planning (CCPP) is an essential issue for Autonomous Underwater Vehicles’ (AUV) tasks, such as submarine search operations and complete coverage ocean explorations. A CCPP approach based on biologically inspired neural network is proposed for AUVs in the context of completely unknown environment. The AUV path is autonomously planned without any prior knowledge of the time-varying workspace, without explicitly optimizing any global cost functions, and without any learning procedures. The simulation studies show that the proposed approaches are capable of planning more reasonable collision-free complete coverage paths in unknown underwater environment.

Research on Multiple Autonomous Underwater Vehicles Formation Control

2014 ◽  
Vol 641-642 ◽  
pp. 1264-1268
Author(s):  
Zi Qi Lin ◽  
Yong Jie Pang ◽  
Da Peng Jiang
Keyword(s):  
Formation Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Advantages And Disadvantages ◽  
Formation Method ◽  
The Law

While the single AUV is sometimes unable to meet the complex and difficult tasks demand, the advantages of the multiple autonomous underwater vehicles (MAUV) system was proposed. Several MAUV formation methods were studied and master-slave collaborative formation method was focused. The law and algorithm of master-slave formation control was designed and analyzed. Representative formations for different tasks were proposed and the advantages and disadvantages were discussed.

Development of Testbed AUV for Formation Control and its Fundamental Experiment in Actual Sea Model Basin

2021 ◽  
Vol 33 (1) ◽  
pp. 151-157
Author(s):  
Akihiro Okamoto ◽  
◽  
Motonobu Imasato ◽  
Shunka C. Hirao ◽  
Hidenori Sekiguchi ◽  
...  
Keyword(s):  
Formation Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Control Algorithms ◽  
Prototype System ◽  
Large Size ◽  
Constant Distance ◽  
Virtual Leader ◽  
Vital Factor ◽  
Fundamental Experiment

The formation control of multiple autonomous underwater vehicles (AUVs) is increasingly becoming a vital factor in enhancing the efficiency of ocean resources exploration. However, it is currently difficult to deploy such a package of AUVs for operation at sea because of their large size. The aim of our study is to create a demonstration system for formation control algorithms using actual hardware. To implement a prototype system, we developed a testbed AUV usable in a test basin and performed a simple formation control test in the Actual Sea Model Basin of the National Maritime Research Institute, Japan. Two AUVs, the simulated “virtual” leader and the developed “real” follower, communicate through an acoustic link and hence cruise to maintain a constant distance between them. Tests for more sophisticated formation control algorithms will be enabled using the system; consequently rapid implementation at sea will be realized.

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