Distributed Path-Following Formation Control of Multi-AUV Based on Graph Laplacian
作者单位：State Key Laboratory of Industrial Control Technology Zhejiang University College of Electrical Engineering Zhejiang University College of Underwater Acoustic Engineering Harbin Engineering University
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：08[工学] 0824[工学-船舶与海洋工程] 082401[工学-船舶与海洋结构物设计制造]
基 金：supported by the NSFC-Zhejiang Joint Fund for the Integration of Industrialization and Informatization under Grants U1609204 and U1709203 the National Natural Science Foundation of China under Grant 61503335
关 键 词：Autonomous underwater vehicles（AUVs） Path following Distributed control Formation control
摘 要：In this paper, we consider the distributed path-following control problem of a class of autonomous underwater vehicles（AUVs） moving in a leader-follower formation. Based on graph Laplacian, a distributed control law is developed to fulfill the task utilizing only the relative position information from its neighbours without velocity measurement, which indeed adapted to the underwater weak sensing environment. Moreover, in order to reach a moving formation with a common velocity and direction,the control law also incorporates a velocity estimation and consistent direction components with communication graph, which has different topology from sensing graph. Considering the kinematic and dynamic AUV model simultaneously is more complicated than common single-integrator model. Finally, the stability of the design is proven via input-to-state analysis, and simulations are provided to illustrate the effectiveness of the proposed method.