The 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.
State 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.