A Feedback Linearization based Leader-follower Optimal Formation Control for Autonomous Underwater Vehicles
Jian Li Yuan · 2012
Abstract –Leader-follower formation of autonomous underwater vehicles is investigated. Firstly, relative motion equations with disturbances are constructed, and the equations are converted into a linear system by feedback linearization and then feedforward and feedback optimal control (FFOC) law is designed for the linear system. Numerical simulations show the effectiveness of the control scheme.