Joint Formation Control with Obstacle Avoidance of Towfish and Multiple Autonomous Underwater Vehicles Based on Graph Theory and the Null-Space-Based Method
Abstract
:1. Introduction
2. Mathematical Model of Towfish and AUV
- Assumption 1: The velocities and input forces are bounded as , , , , and with known , , , , and .
- Assumption 2: The vehicle can timely transmit a minimal amount of information, including orientation, velocity, and certain sensor data between each other in a short distance (the largest distance is no more than 6 m in this study).
- Assumption 3: Each vehicle can obtain its own orientation and velocity information accurately and in real time from the onboard sensors. No disturbances and obstacles are considered in this formation system.
3. Controller Design
3.1. Formation Control Based on Graph Theory
3.1.1. Passivity-Based Design Procedure
3.1.2. Design Criteria for the Feedback
3.2. NSB Method for Formation Obstacle Avoidance
3.2.1. Introduction to NSB
3.2.2. Tasks for Obstacle Avoidance
3.3. Formation Controller Design with Obstacle Avoidance Function
3.3.1. Control Scheme Based on NSB Strategy
3.3.2. Stability Analysis
4. Simulation and Analysis
5. Conclusions
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
Appendix A
Symbols | Meaning | Symbols | Meaning |
---|---|---|---|
surge | Control variable | ||
sway | Jacobian matrix | ||
yaw | gain matrix | ||
target set | desired value | ||
Incidence matrix | desired velocity |
Appendix B
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Pang, S.-k.; Li, Y.-h.; Yi, H. Joint Formation Control with Obstacle Avoidance of Towfish and Multiple Autonomous Underwater Vehicles Based on Graph Theory and the Null-Space-Based Method. Sensors 2019, 19, 2591. https://doi.org/10.3390/s19112591
Pang S-k, Li Y-h, Yi H. Joint Formation Control with Obstacle Avoidance of Towfish and Multiple Autonomous Underwater Vehicles Based on Graph Theory and the Null-Space-Based Method. Sensors. 2019; 19(11):2591. https://doi.org/10.3390/s19112591
Chicago/Turabian StylePang, Shi-kun, Ying-hui Li, and Hong Yi. 2019. "Joint Formation Control with Obstacle Avoidance of Towfish and Multiple Autonomous Underwater Vehicles Based on Graph Theory and the Null-Space-Based Method" Sensors 19, no. 11: 2591. https://doi.org/10.3390/s19112591
APA StylePang, S.-k., Li, Y.-h., & Yi, H. (2019). Joint Formation Control with Obstacle Avoidance of Towfish and Multiple Autonomous Underwater Vehicles Based on Graph Theory and the Null-Space-Based Method. Sensors, 19(11), 2591. https://doi.org/10.3390/s19112591