Formation control of autonomous underwater vehicles with consensus algorithms and virtual structure
Gong‐You Tang · Caai Transactions on Intelligent Systems · 2011
The small-scale formation control of autonomous underwater vehicles(AUVs) was investigated with consensus algorithms and virtual structure. Firstly,considering the inconsistant virtual-leader information(reference information) for each AUV,a consensus algorithm was adopted to negothiate the inconsistant reference information for each AUV,helping them reach a consistant state. Secondly,the relative positions to the virtual leader were transformed into their desired positions with coordinate transformation based on virtual structure,and a control law was proposed to make the AUVs track the desired trajectories in finite time.The small-scale formation control for AUVs in finite-time was carried out.Finally,Experimental results were provided to demonstrate the effectiveness of the proposed methods.