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.
Robust control of a platoon of underwater autonomous vehicles
Robuste Regelung einer autonomen Unterwasserfahrzeugkolonne
Sea Technology ; 46 , 12 ; 10-13
2005
4 Seiten, 4 Quellen
Article (Journal)
English
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