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Geometric Formation Control for Autonomous Underwater Vehicles

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This paper presents a novel approach based onJacobi shape theory and geometric reduction for formationcontrol of autonomous underwater vehicles AUVs. We considera three degree-of-freedom DOF dynamic model for thehorizontal motion of each AUV that has control inputs oversurge force and yaw moment. By using the Jacobi transform,the horizontal dynamics of AUVs are expressed as dynamics forformation shape, formation motion and vehicle orientation. Thesystem decouples when additional symmetries in vehicle designare presented. Hence formation shape controllers, formationmotion controllers, and vehicle orientation controllers can bedesigned separately. This approach reduces the complexity offormation controllers. We use the model for ODIN as an exampleto demonstrate the controller design process. Simulationresults show the effectiveness of the controllers.

Underwater Robotics - Underwater Robotics Publications -

Autor: Yang, Huizhen - Zhang, Fumin - -


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