Modified constrained adaptive formation control scheme for autonomous underwater vehicles under communication delays

Modified constrained adaptive formation control scheme for autonomous underwater vehicles under communication delays

The performance of a formation control algorithm for a group of autonomous underwater vehicles (AUVs) may be degraded due to communication constraints between the leader and the follower AUVs. Moreover, as the distance between the AUVs change due to ocean waves, the delay in communication also varie...

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Bibliographic Details
Main Authors: Chhavi Suryendu, Bidyadhar Subudhi
Format: Article
Language:English
Published: Wiley 2019-11-01
Series:IET Cyber-systems and Robotics
Subjects:
mobile robots
multi-robot systems
actuators
motion control
control system synthesis
adaptive control
autonomous underwater vehicles
collision avoidance
marine control
communication delay
formation control algorithm
communication constraints
follower auv
cac
actuator saturation
path following
leader auv
prototype auv model
constrained adaptive controller
constrained adaptive formation control scheme
time 0.0 s to 5.0 s
Online Access:https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2019.0027

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https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2019.0027

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