Velocity-Free Formation Control and Collision Avoidance for UUVs via RBF: A High-Gain Approach

This paper designs an adaptive formation control system for unmanned underwater vehicles (UUVs) in the presence of unmeasurable states and environmental disturbance. To solve the problem of unmeasurable UUV states, a filtered high-gain observer (FHGO) is employed to estimate the states, despite meas...

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Bibliographic Details
Main Authors: Jiang, A. (Author), Lai, C. (Author), Li, H. (Author), Yan, Z. (Author)
Format: Article
Language:English
Published: MDPI 2022
Subjects:
Online Access:View Fulltext in Publisher