Decentralized Formation Control of Multiple Autonomous Underwater Vehicles with Input Saturation Using RISE Feedback Method

Dong Cui; Brendan Englot; Rongxin Cui; Demin Xu

doi:10.1109/OCEANS.2018.8604743

Decentralized Formation Control of Multiple Autonomous Underwater Vehicles with Input Saturation Using RISE Feedback Method

Dong Cui, Brendan Englot, Rongxin Cui, Demin Xu

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

5 Scopus citations

Abstract

Decentralized formation control for multiple autonomous underwater vehicles (AUVs) with input saturation is discussed in this paper. In the assumed group communication, each AUV can only obtain information from its adjacent neighbors in the specified communication topology, and only a subset of the AUVs can access the desired trajectory. A robust integral of the sign of the error (RISE) feedback based distributed controller with an anti-windup compensator is proposed so that all group members ultimately synchronize and achieve the desired formation. Based on Lyapunov theory, it is proven that the formation error of each AUV converges to zero. Finally, a simulation example demonstrates the effectiveness of the algorithm.

Original language	English
Title of host publication	OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
ISBN (Electronic)	9781538648148
DOIs	https://doi.org/10.1109/OCEANS.2018.8604743
State	Published - 7 Jan 2019
Event	OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 - Charleston, United States Duration: 22 Oct 2018 → 25 Oct 2018

Publication series

Name	OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018

Conference

Conference	OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018
Country/Territory	United States
City	Charleston
Period	22/10/18 → 25/10/18

Keywords

Anti-windup
Formation control
RISE feedback

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/OCEANS.2018.8604743

Cite this

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title = "Decentralized Formation Control of Multiple Autonomous Underwater Vehicles with Input Saturation Using RISE Feedback Method",

abstract = "Decentralized formation control for multiple autonomous underwater vehicles (AUVs) with input saturation is discussed in this paper. In the assumed group communication, each AUV can only obtain information from its adjacent neighbors in the specified communication topology, and only a subset of the AUVs can access the desired trajectory. A robust integral of the sign of the error (RISE) feedback based distributed controller with an anti-windup compensator is proposed so that all group members ultimately synchronize and achieve the desired formation. Based on Lyapunov theory, it is proven that the formation error of each AUV converges to zero. Finally, a simulation example demonstrates the effectiveness of the algorithm.",

keywords = "Anti-windup, Formation control, RISE feedback",

author = "Dong Cui and Brendan Englot and Rongxin Cui and Demin Xu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 ; Conference date: 22-10-2018 Through 25-10-2018",

year = "2019",

month = jan,

day = "7",

doi = "10.1109/OCEANS.2018.8604743",

language = "English",

series = "OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018",

booktitle = "OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018",

}

Cui, D, Englot, B, Cui, R & Xu, D 2019, Decentralized Formation Control of Multiple Autonomous Underwater Vehicles with Input Saturation Using RISE Feedback Method. in OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018., 8604743, OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018, OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018, Charleston, United States, 22/10/18. https://doi.org/10.1109/OCEANS.2018.8604743

Decentralized Formation Control of Multiple Autonomous Underwater Vehicles with Input Saturation Using RISE Feedback Method. / Cui, Dong; Englot, Brendan; Cui, Rongxin et al.
OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018. 2019. 8604743 (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018).

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

TY - GEN

T1 - Decentralized Formation Control of Multiple Autonomous Underwater Vehicles with Input Saturation Using RISE Feedback Method

AU - Cui, Dong

AU - Englot, Brendan

AU - Cui, Rongxin

AU - Xu, Demin

PY - 2019/1/7

Y1 - 2019/1/7

N2 - Decentralized formation control for multiple autonomous underwater vehicles (AUVs) with input saturation is discussed in this paper. In the assumed group communication, each AUV can only obtain information from its adjacent neighbors in the specified communication topology, and only a subset of the AUVs can access the desired trajectory. A robust integral of the sign of the error (RISE) feedback based distributed controller with an anti-windup compensator is proposed so that all group members ultimately synchronize and achieve the desired formation. Based on Lyapunov theory, it is proven that the formation error of each AUV converges to zero. Finally, a simulation example demonstrates the effectiveness of the algorithm.

AB - Decentralized formation control for multiple autonomous underwater vehicles (AUVs) with input saturation is discussed in this paper. In the assumed group communication, each AUV can only obtain information from its adjacent neighbors in the specified communication topology, and only a subset of the AUVs can access the desired trajectory. A robust integral of the sign of the error (RISE) feedback based distributed controller with an anti-windup compensator is proposed so that all group members ultimately synchronize and achieve the desired formation. Based on Lyapunov theory, it is proven that the formation error of each AUV converges to zero. Finally, a simulation example demonstrates the effectiveness of the algorithm.

KW - Anti-windup

KW - Formation control

KW - RISE feedback

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DO - 10.1109/OCEANS.2018.8604743

M3 - Conference contribution

AN - SCOPUS:85061802632

T3 - OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018

BT - OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018

T2 - OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018

Y2 - 22 October 2018 through 25 October 2018

ER -

Decentralized Formation Control of Multiple Autonomous Underwater Vehicles with Input Saturation Using RISE Feedback Method

Abstract

Publication series

Conference

Keywords

UN SDGs

Access to Document

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