• Controlled Lagrangian Particle Tracking Error Under Biased Flow Prediction 

      Szwaykowska, Klementyna; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013)
      In this paper we model the controlled Lagrangian particle tracking (CLPT) error for marine vehicles moving in an ocean flow field, with guidance from ocean models. We linearize the error about the nominal modeled ...
    • Geometric Formation Control for Autonomous Underwater Vehicles 

      Yang, Huizhen; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      This paper presents a novel approach based on Jacobi shape theory and geometric reduction for formation control of autonomous underwater vehicles (AUVs). We consider a three degree-of-freedom (DOF) dynamic model for ...
    • A Lower Bound for Controlled Lagrangian Particle Tracking Error 

      Szwaykowska, Klementyna; Zhang, Fumin (Georgia Institute of Technology, 2010-12)
      Autonomous underwater vehicles are flexible mobile platforms for ocean sampling and surveillance missions. However, navigation of these vehicles in unstructured, highly variable ocean environments poses a significant ...
    • Robust Control of Horizontal Formation Dynamics for Autonomous Underwater Vehicles 

      Yang, H.; Zhang, Fumin (Georgia Institute of Technology, 2011)
      This 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 ...
    • Robust Geometric Formation Control of Multiple Autonomous 

      Yang, Huizhen; Wang, Chuanfeng; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      This paper develops a robust controller for autonomous underwater vehicles with bounded time delays, so that the AUVs form and keep a desired formation shape and track a desired trajectory. We use a six-degree-of-free ...
    • Trend and Bounds for Error Growth in Controlled Lagrangian Particle Tracking 

      Szwaykowska, Klementyna; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-12-18)
      This paper establishes the method of controlled Lagrangian particle tracking (CLPT) to analyse the offsets between physical positions of marine robots in the ocean and simulated positions of controlled particles in an ...