Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles

In order to deal with coordination control for multiple autonomous underwater vehicles (AUVs), a three-dimensional coordination control scheme is proposed by combining sliding mode control, backstepping technique, and leader-follower strategy. A virtual trajectory is introduced to decrease the information exchange between AUVs. Global leader motion and follower controller constitute the coordination control scheme and are verified by a triangular prism formation simulation of six AUVs. The simulation results demonstrate that the controllers are capable of coordinating AUVs to achieve the desired formation and the coordination control scheme is effective.

[1]  Bruno Jouvencel,et al.  Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection , 2010 .

[2]  Daqi Zhu,et al.  A Novel Cooperative Hunting Algorithm for Inhomogeneous Multiple Autonomous Underwater Vehicles , 2018, IEEE Access.

[3]  Aaas News,et al.  Book Reviews , 1893, Buffalo Medical and Surgical Journal.

[4]  Fumin Zhang,et al.  Robust Control of Formation Dynamics for Autonomous Underwater Vehicles in Horizontal Plane , 2012 .

[5]  Bong Seok Park.  Adaptive formation control of underactuated autonomous underwater vehicles , 2015 .

[6]  Chao Liu,et al.  Synchronized path following control of multiple homogenous underactuated AUVs , 2012, J. Syst. Sci. Complex..

[7]  Ratnesh Kumar,et al.  A behavior-based intelligent control architecture with application to coordination of multiple underwater vehicles , 2000, IEEE Trans. Syst. Man Cybern. Part A.

[8]  Ye Li,et al.  Study of 3 dimension trajectory tracking of underactuated autonomous underwater vehicle , 2015 .

[9]  Cong Wang,et al.  Three-Dimensional Path Following of an Underactuated AUV Based on Neuro-Adaptive Command Filtered Backstepping Control , 2018, IEEE Access.

[10]  João Pedro Hespanha,et al.  Linear Systems Theory , 2009 .

[11]  Vijay Kumar,et al.  Leader-to-formation stability , 2004, IEEE Transactions on Robotics and Automation.

[12]  K.Y. Pettersen,et al.  A virtual vehicle approach to output synchronization control , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[13]  Yoo Sang Choo,et al.  Leader-follower formation control of underactuated autonomous underwater vehicles , 2010 .

[14]  Vijay Kumar,et al.  Modeling and control of formations of nonholonomic mobile robots , 2001, IEEE Trans. Robotics Autom..

[15]  Marc Carreras,et al.  Girona 500 AUV: From Survey to Intervention , 2012, IEEE/ASME Transactions on Mechatronics.

[16]  Qiang Ma,et al.  Three-Dimensional Path Following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control , 2018, Int. J. Fuzzy Syst..

[17]  Daqi Zhu,et al.  3D path-following control for autonomous underwater vehicle based on adaptive backstepping sliding mode , 2015, 2015 IEEE International Conference on Information and Automation.

[18]  D.L. Odell,et al.  A leader-follower algorithm for multiple AUV formations , 2004, 2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578).

[19]  Antonio Loría,et al.  Uniform semiglobal practical asymptotic stability for non-autonomous cascaded systems and applications , 2008, Autom..

[20]  A. J. Healey,et al.  Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles , 1993 .

[21]  Peng Shi,et al.  Consensus of Multiagent Systems Using Aperiodic Sampled-Data Control , 2016, IEEE Transactions on Cybernetics.

[22]  Bong-Huan Jun,et al.  Development of the AUV ‘ISiMI’ and a free running test in an Ocean Engineering Basin , 2009 .

[23]  Bidyadhar Subudhi,et al.  Cooperative formation control of autonomous underwater vehicles: An overview , 2016, Int. J. Autom. Comput..

[24]  David M. Fratantoni,et al.  Multi-AUV Control and Adaptive Sampling in Monterey Bay , 2006, IEEE Journal of Oceanic Engineering.

[25]  Bidyadhar Subudhi,et al.  A backstepping approach for the formation control of multiple autonomous underwater vehicles using a leader–follower strategy , 2016 .

[26]  Andreas Birk,et al.  The European Project MORPH: Distributed UUV Systems for Multimodal, 3D Underwater Surveys , 2016 .

[27]  Hyo-Sung Ahn,et al.  A survey of multi-agent formation control , 2015, Autom..

[28]  Arun D. Mahindrakar,et al.  Control of a Class of Underactuated Mechanical Systems Using Sliding Modes , 2009, IEEE Transactions on Robotics.

[29]  Ji Xiang,et al.  QUUV: A quadrotor-like unmanned underwater vehicle with thrusts configured as X shape , 2018, Applied Ocean Research.