Formation control of underwater vehicles using Multi Agent System
نویسندگان
چکیده
منابع مشابه
Formation Control of Autonomous Underwater Vehicles
In this paper, we present a formation-keeping control of multiple autonomous underwater vehicles(UAVs) in 3D space. We use a so-called LeaderFollower formation approach, and our control task is to keep the relative position of each follower with a desired orientation to the leader. An Input/Output linearization is applied to the error system whose coordinates are the differences between a targe...
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This paper presents an adaptive formation control for a multiple Autonomous underwater vehicles (AUVs) using Lyapunov stability criterian. This controller considers the hydrodynamic parameter uncertainties of the AUVs. Simulations are performed considering three AUVs in a group and the results obtained demonstrate effective formation control of these AUVs while tracking a circular trajectory.
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We address the subject of formation control of underwater vehicles, using either inter-vehicle relative position measurements or range-only measurements. The work is motivated by the MORPH project, aiming to use formations of vehicles with complementary capabilities to map the underwater environment in challenging conditions. The main problem studied is that of driving a vehicle (follower) to a...
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a thesis submitted in partial fulfillment of the requirements for the degree of Bilas Chowdhury (107EE065) under the guidance of Rourkela CERTIFICATE This is to certify that the thesis entitled, " Control of Autonomous Underwater Vehicles " submitted by Mahendra Pratap Singh and Bilas Chowdhury in partial fulfillment of the requirements for the award of Bachelor of Technology Degree in Electric...
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ژورنال
عنوان ژورنال: Archives of Control Sciences
سال: 2023
ISSN: ['1230-2384', '2300-2611']
DOI: https://doi.org/10.24425/acs.2020.133503