Formation tracking control for a team of networked underwater robot systems with uncertain hydrodynamics

Zhi Feng; Guoqiang Hu

doi:10.1109/RCAR.2018.8621813

Formation tracking control for a team of networked underwater robot systems with uncertain hydrodynamics

Zhi Feng
, Guoqiang Hu

Nanyang Technological University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

This paper studies time-varying formation tracking control for a group of AUVs (autonomous underwater vehicles). Due to the inherent nonlinearities, uncertain hydrodynamics, and unpredictable external disturbances, coordination of AUVs is challenging. Conventional linear controllers may not satisfy performance requirements, especially when changes in system and environment occur during underwater operations. We investigate robust formation tracking under a static communication network, where the states of AUVs form a predefined time-varying formation, while tracking a desired time-varying reference trajectory. A distributed controller using continuous control is proposed to solve this problem. A numerical example is provided to illustrate the effectiveness of the proposed method.

Original language	English
Title of host publication	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	372-377
Number of pages	6
ISBN (Electronic)	9781538668689
DOIs	https://doi.org/10.1109/RCAR.2018.8621813
State	Published - 2 Jul 2018
Externally published	Yes
Event	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018 - Kandima, Maldives Duration: 1 Aug 2018 → 5 Aug 2018

Publication series

Name	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

Conference

Conference	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
Country/Territory	Maldives
City	Kandima
Period	1/08/18 → 5/08/18

Access to Document

10.1109/RCAR.2018.8621813

Cite this

Feng, Z., & Hu, G. (2018). Formation tracking control for a team of networked underwater robot systems with uncertain hydrodynamics. In 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018 (pp. 372-377). Article 8621813 (2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR.2018.8621813

Feng, Zhi ; Hu, Guoqiang. / Formation tracking control for a team of networked underwater robot systems with uncertain hydrodynamics. 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 372-377 (2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018).

@inproceedings{fa567126119049289560b00c1bc952a1,

title = "Formation tracking control for a team of networked underwater robot systems with uncertain hydrodynamics",

abstract = "This paper studies time-varying formation tracking control for a group of AUVs (autonomous underwater vehicles). Due to the inherent nonlinearities, uncertain hydrodynamics, and unpredictable external disturbances, coordination of AUVs is challenging. Conventional linear controllers may not satisfy performance requirements, especially when changes in system and environment occur during underwater operations. We investigate robust formation tracking under a static communication network, where the states of AUVs form a predefined time-varying formation, while tracking a desired time-varying reference trajectory. A distributed controller using continuous control is proposed to solve this problem. A numerical example is provided to illustrate the effectiveness of the proposed method.",

author = "Zhi Feng and Guoqiang Hu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018 ; Conference date: 01-08-2018 Through 05-08-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/RCAR.2018.8621813",

language = "英语",

series = "2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "372--377",

booktitle = "2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018",

address = "美国",

}

Feng, Z & Hu, G 2018, Formation tracking control for a team of networked underwater robot systems with uncertain hydrodynamics. in 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018., 8621813, 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018, Institute of Electrical and Electronics Engineers Inc., pp. 372-377, 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018, Kandima, Maldives, 1/08/18. https://doi.org/10.1109/RCAR.2018.8621813

Formation tracking control for a team of networked underwater robot systems with uncertain hydrodynamics. / Feng, Zhi; Hu, Guoqiang.
2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 372-377 8621813 (2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Hu, Guoqiang

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N2 - This paper studies time-varying formation tracking control for a group of AUVs (autonomous underwater vehicles). Due to the inherent nonlinearities, uncertain hydrodynamics, and unpredictable external disturbances, coordination of AUVs is challenging. Conventional linear controllers may not satisfy performance requirements, especially when changes in system and environment occur during underwater operations. We investigate robust formation tracking under a static communication network, where the states of AUVs form a predefined time-varying formation, while tracking a desired time-varying reference trajectory. A distributed controller using continuous control is proposed to solve this problem. A numerical example is provided to illustrate the effectiveness of the proposed method.

AB - This paper studies time-varying formation tracking control for a group of AUVs (autonomous underwater vehicles). Due to the inherent nonlinearities, uncertain hydrodynamics, and unpredictable external disturbances, coordination of AUVs is challenging. Conventional linear controllers may not satisfy performance requirements, especially when changes in system and environment occur during underwater operations. We investigate robust formation tracking under a static communication network, where the states of AUVs form a predefined time-varying formation, while tracking a desired time-varying reference trajectory. A distributed controller using continuous control is proposed to solve this problem. A numerical example is provided to illustrate the effectiveness of the proposed method.

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U2 - 10.1109/RCAR.2018.8621813

DO - 10.1109/RCAR.2018.8621813

M3 - 会议稿件

AN - SCOPUS:85062509677

T3 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

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BT - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

Y2 - 1 August 2018 through 5 August 2018

ER -

Feng Z, Hu G. Formation tracking control for a team of networked underwater robot systems with uncertain hydrodynamics. In 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 372-377. 8621813. (2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018). doi: 10.1109/RCAR.2018.8621813

Formation tracking control for a team of networked underwater robot systems with uncertain hydrodynamics

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