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Robust control of formation dynamics for autonomous underwater vehicles in horizontal plane / Huizhen Yang in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 3 (Mai 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 3 (Mai 2012) . - 07 p. Titre : Robust control of formation dynamics for autonomous underwater vehicles in horizontal plane Type de document : texte imprimé Auteurs : Huizhen Yang, Auteur ; Fumin Zhang, Auteur Année de publication : 2012 Article en page(s) : 07 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Robust  controller  design  Autonomous  underwater  vehicles  Jacobi  transform  Horizontal  dynamics Index. décimale : 629.8 Résumé : 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-infinity 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. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000003 [...] [article] Robust control of formation dynamics for autonomous underwater vehicles in horizontal plane [texte imprimé] / Huizhen Yang, Auteur ; Fumin Zhang, Auteur . - 2012 . - 07 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 3 (Mai 2012) . - 07 p. Mots-clés : Robust  controller  design  Autonomous  underwater  vehicles  Jacobi  transform  Horizontal  dynamics Index. décimale : 629.8 Résumé : 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-infinity 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. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000003 [...]