Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles

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 infor...

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Main Authors: Jingwei Bian, Ji Xiang
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Autonomous underwater vehicle (AUV)
three-dimensional coordination control
sliding mode control
backstepping technique
leader-follower strategy
virtual trajectory
Online Access:https://ieeexplore.ieee.org/document/8710241/
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spelling doaj-7602409b1afb40c6b03870303ff161592021-03-29T22:56:13ZengIEEEIEEE Access2169-35362019-01-017639136392010.1109/ACCESS.2019.29159338710241Three-Dimensional Coordination Control for Multiple Autonomous Underwater VehiclesJingwei Bian0https://orcid.org/0000-0001-7825-4084Ji Xiang1College of Electrical Engineering, Zhejiang University, Hangzhou, ChinaCollege of Electrical Engineering, Zhejiang University, Hangzhou, ChinaIn 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.https://ieeexplore.ieee.org/document/8710241/Autonomous underwater vehicle (AUV)three-dimensional coordination controlsliding mode controlbackstepping techniqueleader-follower strategyvirtual trajectory
collection DOAJ
language English
format Article
sources DOAJ
author Jingwei Bian
Ji Xiang
spellingShingle Jingwei Bian
Ji Xiang
Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles
IEEE Access
Autonomous underwater vehicle (AUV)
three-dimensional coordination control
sliding mode control
backstepping technique
leader-follower strategy
virtual trajectory
author_facet Jingwei Bian
Ji Xiang
author_sort Jingwei Bian
title Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles
title_short Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles
title_full Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles
title_fullStr Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles
title_full_unstemmed Three-Dimensional Coordination Control for Multiple Autonomous Underwater Vehicles
title_sort three-dimensional coordination control for multiple autonomous underwater vehicles
publisher IEEE
series IEEE Access
issn 2169-3536
publishDate 2019-01-01
description 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.
topic Autonomous underwater vehicle (AUV)
three-dimensional coordination control
sliding mode control
backstepping technique
leader-follower strategy
virtual trajectory
url https://ieeexplore.ieee.org/document/8710241/
work_keys_str_mv AT jingweibian threedimensionalcoordinationcontrolformultipleautonomousunderwatervehicles
AT jixiang threedimensionalcoordinationcontrolformultipleautonomousunderwatervehicles
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