Robust-Formation Control of Multi-Autonomous Underwater Vehicles based on Consensus Algorithm

Vina Putranti, Zool H. Ismail, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper discusses a robust formation control for multi-Autonomous Underwater Vehicles (AUVs). The AUVs are disturbed by exogenous perturbation during the mission, thus, the Robust Integral Sign of Error (RISE) is adopted. For a formation control, a leader-follower structure based on consensus algorithm is adopted and the use of graph theorem named connected graph is useful to exchange the required information. An AUV called leader is determined to bring a group of information, while the others called followers, receive the information from a leader. Lyapunov analysis proves the stability as well as the error convergence of proposed controller, whilst some simulations are performed to compare between the proposed controller, RISE with consensus, and the existing robust controller, Sliding Mode Controller (SMC) which is combined with consensus algorithm. As a result, the proposed controller works better and produces smaller error.

Original languageEnglish
Title of host publication2016 IEEE Conference on Control Applications, CCA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1250-1255
Number of pages6
ISBN (Electronic)9781509007554
DOIs
Publication statusPublished - 2016 Oct 10
Event2016 IEEE Conference on Control Applications, CCA 2016 - Buenos Aires, Argentina
Duration: 2016 Sep 192016 Sep 22

Publication series

Name2016 IEEE Conference on Control Applications, CCA 2016

Other

Other2016 IEEE Conference on Control Applications, CCA 2016
Country/TerritoryArgentina
CityBuenos Aires
Period16/9/1916/9/22

ASJC Scopus subject areas

  • Control and Optimization
  • Modelling and Simulation

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