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dc.contributor.authorYang, H.
dc.contributor.authorZhang, Fumin
dc.identifier.citationH. Yang and Fumin Zhang, “Robust Control of Horizontal Formation Dynamics for Autonomous Underwater Vehicles,” in Proc. 2011 IEEE Conference on Robotics and Automation (ICRA 2011), (Accepted), 2011.en_US
dc.description.abstractThis paper presents a novel robust controller design for formation control of autonomous underwater vehicles (AUVs). We consider a nonlinear three-degree-of-freedom dynamic model for the horizontal motion of each AUV. By using the Jacobi transform, the horizontal dynamics of AUVs are explicitly expressed as dynamics for formation shape and formation center, and are further decoupled by feedback control. We treat the coupling terms as perturbations to the decoupled system. An H_inf state feedback controller is designed to achieve robust stability of the closed loop formation and translation dynamics. By incorporating an orientation controller, the formation shape under control converges and the formation center tracks a desired trajectory simultaneously. Simulation results demonstrate the effectiveness of the controllers.en_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectAdaptive controlen_US
dc.subjectAutonomous underwater vehiclesen_US
dc.titleRobust Control of Horizontal Formation Dynamics for Autonomous Underwater Vehiclesen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines

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