Abstract
In older to solve the potential singularity problem brought from the polar coordinate representation, and eliminate the offset caused by off-axis point in the feedback linearization formation control approach, a novel improved virtual leader based formation control for nonholonomic multi-UUV is proposed, the kinematics model of which is established using Cartesian coordinates. Then, the global-level formation control is transformed into the problem that the followers track their virtual leader. Next, a globally dynamic feedback tracking controller is designed based on the direct Lyapunov method. Finally, simulation results are given to demonstrate that the proposed model and controller are feasible.
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© 2012 Springer-Verlag Berlin Heidelberg
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Hao, L., Gu, H., Kang, F., Yang, H., Yang, X. (2012). Improved Virtual Leader Based Formation Control for Nonholonomic Multi-UUV. In: Xiao, T., Zhang, L., Ma, S. (eds) System Simulation and Scientific Computing. ICSC 2012. Communications in Computer and Information Science, vol 326. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34381-0_20
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DOI: https://doi.org/10.1007/978-3-642-34381-0_20
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-34380-3
Online ISBN: 978-3-642-34381-0
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