Details

Autor(en) / Beteiligte

• Yan Zhe-ping
• Deng Li-rong
• Hou Shu-ping
• Deng Chao

Titel

Formation control of multi-UUV for CTD detection

Ist Teil von

• Proceedings of the 32nd Chinese Control Conference, 2013, p.5494-5497

Ort / Verlag

TCCT, CAA

Erscheinungsjahr

2013

Quelle

IEEE Xplore

Beschreibungen/Notizen

• This paper addresses the problem of multi-UUV formation control for CTD detection. A leader-follower scheme based on decentralized control method is presented here. This method includes formation keeping control and trajectory tracking control. For formation keeping, a separate fuzzy logic controller is designed for formation position, which makes UUV keeping a desired formation. For trajectory tracking, a fuzzy adaptive PID controller is designed to track a sinusoid in vertical plane, and a learning algorithm of rule modifier is introduced to adjust control efforts in the controller. The validity of this control method is supported by simulation experiments.