Skip to main content
SpringerLink
Log in
Book cover

Proceedings of 2013 Chinese Intelligent Automation Conference pp 1–8Cite as

Formation Control of Autonomous Underwater Vehicles Based on Finite-Time Consensus Algorithms

  • Conference paper
  • First Online:

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 254))

Abstract

Formation control of autonomous underwater vehicles is investigated. A finite-time consensus algorithm for second-order system is proposed, the consensus on velocities of AUV (linear velocity and angular velocity) and positions (displacement and attitude) are carried out with the finite-time consensus. Because of the limited communication range, the communication ranges of AUVs are predefined, so the AUVs system is modeled as a networked system with variable communication topologies. We demonstrate the formation control of multiple AUVs with different communication ranges, which show that the finite-time consensus on positions and velocities is obtained. Finally, we demonstrate the formation control of multiple AUVs with constraints on maximum velocity. Simulation results verify the effectiveness of the proposed control algorithms.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD   219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. Fiorelli E (2006) Multi-AUV control and adaptive sampling in Monterey bay. IEEE J Oceanic Eng 31(4):935–948

    Article  Google Scholar 

  2. Yu SC, Ura T (2004) A system of multi-AUV interlinked with a smart cable for autonomous inspection of underwater structures. Int J Offshore Polar Eng 14(4):264–272

    Google Scholar 

  3. Yu SC, Ura T (2004) Experiments on a system of multi-AUV interlinked with a smart cable for autonomous inspection of underwater structures. Int J Offshore Polar Eng 14(4):273–283

    Google Scholar 

  4. Xiang XB (2007) Coordinated control for multi-AUV systems based on hybrid automata. In: Proceedings of IEEE international conference on robotics and biomimetics, pp 2121–2126

    Google Scholar 

  5. Tangirala S, Kumar R, Bhattacharyya S et al (2005) Hybrid-model based hierarchical mission control architecture for autonomous underwater vehicles, American control conference, vol 1. Portland, pp 668–673

    Google Scholar 

  6. Yang EF, Gu DB (2007) Nonlinear formation-keeping and mooring control of multiple autonomous underwater vehicles. IEEE/ASME Trans Mechatron 2(2):164–178

    Article  MathSciNet  Google Scholar 

  7. Kalantar S, Zimmer UR (2007) Distributed shape control of homogeneous swarms of autonomous underwater vehicles. Auton Robots 22(1):37–53

    Article  Google Scholar 

  8. Lewis MA, Tan KH (1997) High precision formation control of mobile robots using virtual structure approach. Auton Robots 4:387–403

    Article  Google Scholar 

  9. Lawton AR, Young BJ, Beard RW (2000) A decentralized approach to elementary formation maneuvers, IEEE international conference on robotics and automation, vol 3. San Francisco, pp 2728–2733

    Google Scholar 

  10. Leonard NE, Fiorelli E (2001) Virtual leader, artificial potentials and coordinated control of groups, IEEE conference on decision and control, vol 3. Orlando, pp 2968–2973

    Google Scholar 

  11. Lawton JR, Beard RW, Young BJ (2003) A decentralized approach to formation maneuvers. IEEE Trans Robot Autom 19(6):933–941

    Article  Google Scholar 

  12. Ren W, Sorensen N (2008) Distributed coordination architecture for multi-robot formation control. Robot Auton Syst 56(4):324–333

    Article  Google Scholar 

  13. Ren W, Beard RW (2004) Decentralized scheme for spacecraft formation flying via the virtual structure approach. J Guidance Control Dyn 27(1):73–82

    Article  Google Scholar 

  14. Do KD (2008) Formation tracking control of unicycle-type mobile robots with limited sensing ranges. IEEE Trans Control Syst Technol 16(3):527–538

    Article  Google Scholar 

  15. Dong WJ, Farrell JA (2009) Decentralized cooperative control of multiple nonholonomic dynamic systems with uncertainty. Automatica 45:706–710

    Article  MathSciNet  MATH  Google Scholar 

  16. Das K, Fierro R, Kuma V et al (2002) A vision-based formation control framework. IEEE Trans Robot Autom 18(5):813–825

    Article  Google Scholar 

  17. Wu XF, Xu C (2011) Mean synchronization of pinning complex networks with linearly and nonlinearly time-delay coupling. Int J Digit Content Technol Appl. 5(3):33–46

    Article  Google Scholar 

  18. Yang Q, Shi J, Tang B (2010) Convergence analysis of decentralized slot synchronization algorithm for wireless ad hoc networks. J Convergence Inf Technol 5(10):223–232

    Article  Google Scholar 

  19. Xiao F, Wang L, Chen J, Gao Y (2009) Finite-time formation control for multi-agent systems. Automatica 45(11):2605–2611

    Article  MathSciNet  MATH  Google Scholar 

  20. Wang X, Hong Y (2010) Distributed finite-time χ-consensus algorithms for multi-agent systems with variable coupling topology. J Syst Sci Complexity 23(2):209–218

    Article  MathSciNet  Google Scholar 

Download references

Acknowledgments

This work is supported by the Natural Science Foundation of Shandong Province with grant number ZR2012FL18, the International Science and Technology Cooperation Project with grant number 2011DFR60810 and the Science and Technology Development Foundation of Shandong Academy of Sciences.

Author information

Authors and Affiliations

  1. Institute of Oceanographic Instrumentation of Shandong Academy of Sciences, Qingdao, China

    Jian Yuan, Zhong-Hai Zhou, Hua Mu, Yu-Ting Sun & Lei Li

  2. Shandong Provincial Key Laboratory of Ocean Environment Monitoring Technology, Shandong, China

    Jian Yuan, Zhong-Hai Zhou, Hua Mu, Yu-Ting Sun & Lei Li

Authors
  1. Jian Yuan
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zhong-Hai Zhou
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Hua Mu
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Yu-Ting Sun
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Lei Li
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jian Yuan .

Editor information

Editors and Affiliations

  1. , Department of Computer Science, Tsinghua University, Qinghua, Beijing, 100084, China, People's Republic

    Zengqi Sun

  2. Tsinghua University, Qinghua, Beijing, 100084, China, People's Republic

    Zhidong Deng

Rights and permissions

Reprints and permissions

Copyright information

© 2013 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Yuan, J., Zhou, ZH., Mu, H., Sun, YT., Li, L. (2013). Formation Control of Autonomous Underwater Vehicles Based on Finite-Time Consensus Algorithms. In: Sun, Z., Deng, Z. (eds) Proceedings of 2013 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 254. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38524-7_1

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-38524-7_1

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-38523-0

  • Online ISBN: 978-3-642-38524-7

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation