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Volume 20 Issue 2
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2012  >  20(2): 111-116
ZHANG Jing, YANG Hui-zhen, HAO Li-li, KANG Feng-ju. A Formation Control Algorithm for Multiple Autonomous Underwater Ve-hicles Based on Jacobi Shape Theory[J]. Journal of Unmanned Undersea Systems, 2012, 20(2): 111-116. doi: 10.11993/j.issn.1673-1948.2012.02.007
Citation: ZHANG Jing, YANG Hui-zhen, HAO Li-li, KANG Feng-ju. A Formation Control Algorithm for Multiple Autonomous Underwater Ve-hicles Based on Jacobi Shape Theory[J]. Journal of Unmanned Undersea Systems, 2012, 20(2): 111-116. doi: 10.11993/j.issn.1673-1948.2012.02.007
shu

A Formation Control Algorithm for Multiple Autonomous Underwater Ve-hicles Based on Jacobi Shape Theory

doi: 10.11993/j.issn.1673-1948.2012.02.007
  • 1.

    College of Marine Engineering, Northwestern Polythechnical University, Xi′an 710072, China

  • 2.

    Science and Technology on Underwater Information and Control Laboratory, Xi′an 710072, China

  • Received Date: 2011-07-03
  • Rev Recd Date: 2011-10-31
  • Publish Date: 2012-04-20
    Abstract
  • Dynamics modeling and formation control of multiple autonomous underwater vehicles (MAUVs) system are ad-dressed. Based on dynamics and kinematics models of a single AUV, a horizontal dynamics model of MAUV system is estab-lished by applying the Jacobi geometric vector. With the hydrodynamic parameters of the typical underwater vehicle’s omni-directional intelligent navigator (ODIN), the formation dynamics model is reasonably simplified and decoupled into three linear subsystems——formation shape, formation movement (i.e. movement of the formation center), and Vehicle orien-tation subsystem. Motion controller and steering controller are designed for the decoupled linear subsystem by using the linear state feedback approach. Simulation results demonstrate that the algorithm can control the formation center of MAUV system to track known path while keeping formation shape.

     

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