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Globally stable adaptive cooperative path following controller design for multiple AUVs
Wang H(王昊); Liu KZ(刘开周); Li S(李硕)
Department水下机器人研究室
Conference Name3rd International Conference on Informative and Cybernetics for Computational Social Systems, ICCSS 2016
Conference DateAugust 26-29, 2016
Conference PlaceJinzhou, Liaoning, China
Author of SourceInternational Federation of Automatic Control (IFAC); Liaoning University of Technology; University of Macau
Source Publication2016 3rd International Conference on Informative and Cybernetics for Computational Social Systems, ICCSS 2016
PublisherIEEE
Publication PlaceNEW YORK
2016
Pages312-316
Indexed ByEI ; CPCI(ISTP)
EI Accession number20164603016524
WOS IDWOS:000390239500061
Contribution Rank1
ISBN978-1-5090-3367-6
AbstractThe cooperative path following control problem for multiple autonomous underwater vehicles (AUVs) with uncertain nonlinear dynamics is considered in this paper. For individual AUV design, a nonlinear path following controller is developed to drive each one to follow the desired path while neural network (NN) based dynamic surface control (DSC) technique is injected. For cooperative control design, the path variables are synchronized by the tools of graph theory. The developed algorithm ensures the globally uniformly ultimately bounded (GUUB) stability of the closed-loop system. A simulation test is given to validate the control algorithm.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19408
Collection水下机器人研究室
Corresponding AuthorWang H(王昊)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
Recommended Citation
GB/T 7714
Wang H,Liu KZ,Li S. Globally stable adaptive cooperative path following controller design for multiple AUVs[C]//International Federation of Automatic Control (IFAC); Liaoning University of Technology; University of Macau. NEW YORK:IEEE,2016:312-316.
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