Hybrid Control Approach to Multi-AUV System in a Surveillance Mission
Igor Vyacheslavovich Bychkov, Artem Davydov, Nagul Nadezhda, Ul’yanov Sergey · 2018
Surveillance missions for multiple autonomous underwater vehicle (AUV) system suggest the use of different modes of operation including organizing and keeping a predefined formation, avoiding obstacles, reaching static and tracking dynamic targets. While exploiting a leader-follower strategy to formation control and the vector Lyapunov function method to controller design, we use discrete-event approach and supervisory control theory to switch between operational modes.