A formation flying algorithm for autonomous underwater vehicles

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Dec 2011 Netherlands Publisher:IEEEJournal:IEEE Conference on Decision and Control and European Control Conference

Authors: P.L. Kempker (Pia); A.C.M. Ran; J.H. van Schuppen (Jan);

doi: 10.1109/cdc.2011.6160428

handle: 1871.1/1eeaa1df-ea45-4712-8597-999e7d5202b7

A formation flying algorithm for autonomous underwater vehicles

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Abstract

A control algorithm for the problem of formation flying for autonomous underwater vehicles is presented. Using a restrictive communication scheme and LQ optimal control, the control algorithm respects the limitations of underwater communication and on-board computing power. The influence of restricting communications on the performance of the control algorithm is illustrated by a simulation.

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Netherlands

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