A leader-follower algorithm was developed for the robust control of a platoon of AUV (Autonomous Underwater Vehicles). The leader used a waypoint guidance system, and followers used a similar guidance system and speed controller to follow the leader. The speed controller of the leader regulates the velocity at the operating velocity, while the controller of the follower adjusts the velocity to maintain a forward distance. LQG (Linear Quadratic Gaussian) regulator theory and LTR (Loop Transfer Recovery) techniques were used to design the robust steering and the speed controller. Simulations were performed with three underwater vehicles in the presence of a cross-current disturbances. The simulation results under a cross-current disturbance show the effectiveness of the controller, and that the formation swap improve the robustness of the fleet. The concept of the two-hydrophone sensor was also introduced to overcome some existing sensor limitations.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust control of a platoon of underwater autonomous vehicles


    Additional title:

    Robuste Regelung einer autonomen Unterwasserfahrzeugkolonne


    Contributors:

    Published in:

    Sea Technology ; 46 , 12 ; 10-13


    Publication date :

    2005


    Size :

    4 Seiten, 4 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Robust Control of a Platoon of Underwater Autonomous Vehicles

    A. Okamoto / J. J. Feeley / D. B. Edwards | NTIS | 2004


    Constraint-Following Approach for Platoon Control Strategy of Connected Autonomous Vehicles

    Mengyan Hu / Ying Gao / Xiangmo Zhao et al. | DOAJ | 2022

    Free access

    DYNAMIC PLATOON FORMATION METHOD UNDER MIXED AUTONOMOUS VEHICLES FLOW

    QI HONGSHENG / YING YUYAN | European Patent Office | 2022

    Free access

    A Platoon-Based Intersection Management System for Autonomous Vehicles

    Bashiri, Self / Fleming, Cody | British Library Conference Proceedings | 2017


    Robust trajectory tracking control for underactuated autonomous underwater vehicles

    Heshmati Alamdari, Shahab / Nikou, Alexandros / Dimarogonas, Dimos V. | BASE | 2019

    Free access