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Three-dimensional formation control based on filter backstepping method for multiple underactuated underwater vehicles

Published online by Cambridge University Press:  26 July 2016

Xue Qi  and
Zhi-jun Cai
Xue Qi*
Affiliation:
College of Information and Network Engineering, Anhui Science and Technology University, Fengyang, Anhui CO233100, P. R. China
Zhi-jun Cai
Affiliation:
School of finance and economics, Anhui Science and Technology University, Fengyang, Anhui CO233100, P. R. China, commandingo@163.com
*
*Corresponding author. E-mail: qixuesnow@163.com
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Summary

This paper proposes a leader following formation tracking controller for multiple underactuated underwater vehicles (UUVs) which move in three dimensional space. In order to avoid the derivative of the virtual control signals, a control method based on filter backstepping is proposed. The method can significantly simplify the design process of the backstepping controller through the use of a filter rather than the analytic derivation directly to the virtual control variable. Furthermore, the influence of measurement noise is obviously weakened. The stability of the formation system of multiple UUVs has been proved based on Lyapunov stability theory. Simulation results illustrate that the designed controller can track a three-dimensional formation trajectory accurately.

Keywords

Underactuated underwater vehicleFormation controlFilter backsteppingLeader following

Information

Type
Articles
Information
Robotica , Volume 35 , Issue 8 , August 2017 , pp. 1690 - 1711
Copyright
Copyright © Cambridge University Press 2016 

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