Virtual-leader-follower structure and finite-time controller based cooperative control of multiple autonomous underwater vehicles

2012 ◽  
Author(s):  
Zhong-Hai Zhou ◽  
Jian Yuan ◽  
Wen-Xia Zhang ◽  
Jin-Ping Zhao
Keyword(s):  
Finite Time ◽  
Cooperative Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Virtual Leader

Finite-Time Formation Control for Autonomous Underwater Vehicles with Limited Speed and Communication Range

2014 ◽  
Vol 511-512 ◽  
pp. 909-912
Author(s):  
Jian Yuan ◽  
Feng Li Zhang ◽  
Zhong Hai Zhou
Keyword(s):  
Control Problem ◽  
Control Strategy ◽  
Finite Time ◽  
Cooperative Control ◽  
Formation Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Communication Range ◽  
Control Framework ◽  
Multi Robot

Cooperative control of multiple autonomous underwater vehicles (AUVs) plays an important role on marine scientific investigation and marine development. The formation of multi-AUV can significantly enhance applications on the marine sampling, imaging, surveillance and communications. Compared to the formation control of multi-robot, the formation control of multi-AUV is particularly difficult, especially on controlling attitude and direction of AUV; what is more, the communication method among AUVs is acoustic. When communication distance increases, the communication qualities deteriorate quickly; this mainly makes time-delay, signal attenuation and distortion. Although formation control of multiple AUVs obtains a wide range of attention in recent years, the fruits on formation control problem are less than ones on land multi-robot problems. For example, Fiorelli conducted a collaborative and adaptive sampling research of multi-AUV at the Monterey Bay [; Yu and Ura carried out the cable-based modular fast-moving and obstacle-avoidance experiments, and presented an interconnected multi-AUV system with three-dimension sensors. On the aspect of formation control framework [2-, [ proposed a four-layer cooperative control strategy based on hierarchical structure; [ proposed a hierarchical control framework based on hybrid model. In addition, Yang converted a nonholonomic system to a chain one and designed a controller to implement a leader-follower formation for multiple AUVs in [. The formation control for multiple autonomous underwater vehicles is rather different than the control methods for other vehicles, because the formation control for AUVs is of its characteristics, such as the large-scale distribution in space. The finite-time consensus controller designing based on finite-time control and consensus problem has important theoretical and practical significance. The decentralized controller methods for the autonomous underwater vehicle are applied more and more, but they ignore the coupling relationship between them. Another method is that an AUV is modeling as an agent, but this method ignores attitude characteristics of AUVs (pitch, roll and yaw). In this paper, we consider the cooperative control problem in three dimensional spaces. Finite-time formation for Autonomous Underwater Vehicles (AUVs) with constraints on communication range is investigated. We proposed a two-layer finite-time consensus control law, to avoid leading to collapse on formation because of failure leader, all AUVs are arrayed in the same level and each AUV can obtain global formation information. Finally, the simulation results show the effectiveness of the control strategy.

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.

Cooperative Control of Multiple Autonomous Underwater Vehicles

2013 ◽  
Vol 365-366 ◽  
pp. 905-912
Author(s):  
Bin He ◽  
Da Peng Jiang
Keyword(s):  
Information Exchange ◽  
Cooperative Control ◽  
Distributed Simulation ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Programming Algorithm ◽  
Simulation Environment ◽  
Efficient Communication ◽  
Behavior Based Control ◽  
Behavior Based

The focus of research of AUV is gradually moving towards multiple autonomous underwater vehicles (MAUV) in recent years. This paper describes an investigation into cooperative control of MAUV. Firstly, a distributed control architecture (MOOS) was applied to MAUV system. According to MOOS, functionalities of AUV were organized in a modular manner and a unified information exchange mechanism was used to ensure an efficient communication between different modules. Secondly, a behavior based control strategy was proposed to enable the AUV to cooperate with each other intelligently and adaptively. Interval programming algorithm was applied to make sure that behaviors of each AUV can be coordinated in a timely and optimal manner. Stability of behavior-based control of AUV was analyzed. Finally, a distributed simulation environment was established and a series of simulation were carried out to verify the feasibility of methods mentioned above.

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