ICRA 2011 Paper Abstract


Paper WeA212.5

YANG, Huizhen (Northwestern Polytechnical University), Zhang, Fumin (Georgia Institute of Technology)

Robust Control of Horizontal Formation Dynamics for Autonomous Underwater Vehicles

Scheduled for presentation during the Regular Sessions "Cooperative Control for Multiple Robots" (WeA212), Wednesday, May 11, 2011, 11:05−11:20, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Robust/Adaptive Control of Robotic Systems


This paper presents a novel robust controller design for formation control of autonomous underwater vehicles (AUVs). We consider a nonlinear three-degree-of-freedom dynamic model for the horizontal motion of each AUV. By using the Jacobi transform, the horizontal dynamics of AUVs are explicitly expressed as dynamics for formation shape and formation center, and are further decoupled by feedback control. We treat the coupling terms as perturbations to the decoupled system. An H_inf state feedback controller is designed to achieve robust stability of the closed loop formation and translation dynamics. By incorporating an orientation controller, the formation shape under control converges and the formation center tracks a desired trajectory simultaneously. Simulation results demonstrate the effectiveness of the controllers.



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