Robust distributed consensus of autonomous underwater vehicles in 3D space
| Author | Mirzaei, Morteza |
| Author | Meskin, Nader |
| Author | Abdollahi, Farzaneh |
| Available date | 2021-06-07T09:59:13Z |
| Publication Date | 2016 |
| Publication Name | International Conference on Control, Decision and Information Technologies, CoDIT 2016 |
| Resource | Scopus |
| Abstract | In this paper, robust distributed consensus of autonomous underwater vehicles (AUV) in the presence of ocean disturbances is investigated where the considered model describes both the kinematics and dynamics of the AUV with six degrees of freedom. The backstepping technique is used to make the position and the orientation of the vehicles to reach a consensus. This is achieved in two steps. First the desired linear and angular velocities for position and orientation consensus are calculated. Then the control torques are designed to force the vehicle velocities to converge to the desired ones obtained in the first step in the presence of environmental disturbances. To illustrate the performance of the proposed consensus approaches, simulation results are provided. |
| Sponsor | This publication was made possible by NPRP grant No. NPRP 5-045-2-017 from the Qatar National Research Fund (a member of Qatar Foundation). |
| Language | en |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Subject | Degrees of freedom (mechanics) Multi agent systems Robustness (control systems) Vehicles Autonomous Underwater Backstepping technique Consensus Environmental disturbances Kinematics and dynamics Multi agent Of autonomous underwater vehicles Position and orientations Autonomous underwater vehicles |
| Type | Conference Paper |
| Pagination | 399-404 |
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Electrical Engineering [2649 items ]