Hostname: page-component-84b7d79bbc-5lx2p Total loading time: 0 Render date: 2024-07-26T10:22:40.444Z Has data issue: false hasContentIssue false
  • English
  • Français

Three-dimensional formation control based on filter backstepping method for multiple underactuated underwater vehicles

Published online by Cambridge University Press:  26 July 2016

Xue Qi  and
Zhi-jun Cai
Xue Qi*
Affiliation:
College of Information and Network Engineering, Anhui Science and Technology University, Fengyang, Anhui CO233100, P. R. China
Zhi-jun Cai
Affiliation:
School of finance and economics, Anhui Science and Technology University, Fengyang, Anhui CO233100, P. R. China, commandingo@163.com
*
*Corresponding author. E-mail: qixuesnow@163.com
Get access Rights & Permissions [Opens in a new window]

Summary

This paper proposes a leader following formation tracking controller for multiple underactuated underwater vehicles (UUVs) which move in three dimensional space. In order to avoid the derivative of the virtual control signals, a control method based on filter backstepping is proposed. The method can significantly simplify the design process of the backstepping controller through the use of a filter rather than the analytic derivation directly to the virtual control variable. Furthermore, the influence of measurement noise is obviously weakened. The stability of the formation system of multiple UUVs has been proved based on Lyapunov stability theory. Simulation results illustrate that the designed controller can track a three-dimensional formation trajectory accurately.

Keywords

Underactuated underwater vehicleFormation controlFilter backsteppingLeader following
Type
Articles
Information
Robotica , Volume 35 , Issue 8 , August 2017 , pp. 1690 - 1711
Copyright
Copyright © Cambridge University Press 2016 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Takahashi, H., Nishi, H. and Ohnishi, K., “Autonomous decentralized control for formation of multiple mobile robots considering ability of robot,” IEEE Trans. Ind. Electron., 51 (6), 1272–1279 (2004).Google Scholar
2. Lewis, M. A. and Tan, K. H., “High precision formation control of mobile robots using virtual structures,” Auton. Robot., 4 (4), 387–403 (1997).CrossRefGoogle Scholar
3. Chen, J., Sun, D., Yang, J. and Chen, H., “A leader-follower formation control of multiple nonholonomic mobile robots incorporating receding horizon scheme,” Int. J. Robot. Res., 28, (2009).Google Scholar
4. Yamaguchi, H., “A distributed motion coordination strategy for multiple nonholonomic mobile robots in cooperative hunting operations,” Robot. Auton. Syst., 3 (3), 2984–2991 (2003).Google Scholar
5. Dong, W. and Farrell, J. A., “Cooperative control of multiple nonholonomic mobile agents,” IEEE Trans. Autom. Control, 53 (6), 1434–1448 (2008).Google Scholar
6. Dong, W. and Farrell, J. A., “Decentralized cooperative control of multiple nonholonomic dynamic systems with uncertainty,” Automatica, 45 (3), 706–710 (2009).Google Scholar
7. Sun, D., Wang, C., Shang, W. and Feng, G., “A synchronization approach to multiple mobile robots in switching between formations,” IEEE Trans. Robot., 25 (5), 1074–1086 (2009).Google Scholar
8. Consolini, L., Morbidi, F., Pattrichizzo, D. and Tosques, M.. “Leader-follower formation control of nonholonomic mobile robots with input constraints,” Automatica, 44 (5), 1343–1349 (2008).Google Scholar
9. Das, A. K., Fierro, R., Kumar, V., Ostrowski, J. P., Spletzer, J. and Taylor, C. J., “A vision based formation control framework,” IEEE Trans. Robot. Autom., 18 (5), 813–825 (2002).Google Scholar
10. Hu, J. and Feng, G., “Distributed tracking control of leader follower multi-agent systems under noisy measurement,” Automatica, 46 (8), 1382–1387 (2010).Google Scholar
11. Wang, P. K. C., “Navigation strategies for multiple autonomous mobile robots moving in formation,” J. Robot. Syst., 8 (2), 486–493 (1989).Google Scholar
12. Egerstedt, M. and Hu, X., “Formation constrained multi-agent control,” IEEE Trans. Robot. Autom., 4 (6), 3961–3966 (2001).Google Scholar
13. Yuan, J., Zhou, Z. H. and Zhang, W. X., “A feedback linearization based leader-follower optimal formation control for autonomous underwater vehicles,” Adv. Comput. Sci. Appl., 1 (1), 45–48 (2012).Google Scholar
14. Guo, J., Lin, Z., Cao, M. and Yan, G., “Adaptive Leader-Follower Formation Control for Autonomous Mobile Robots,” 2010 American Control Conference, vol. 58 (8), (Baltimore, USA, 2010) pp. 6822–6827.Google Scholar
15. Peymani, E. and Fossen, T. I.. “Leader-follower Formation of Marine Craft using Constraint Forces and Lagrange Multipliers,” 51st IEEE Conference on Decision and Control, vol. 23 (1), (Maui, Hawaii, USA, 2012) pp. 2447–2452.Google Scholar
16. Xiang, X., Jouvencel, B. and Parodi, O., “Coordinated formation control of multiple autonomous underwater vehicles for pipeline inspection,” Int. J. Adv. Robot. Syst., 7 (1), 75–84 (2010).Google Scholar
17. Ghabcheloo, R., Aguiar, A. P., Pascoal, A., Silvestre, C., Kaminer, I. and Hespanha, J.. “Coordination path-following in the presence of communication losses and time delays,” Siam J. Control Optim., 48 (1), 234–262 (2009).CrossRefGoogle Scholar
18. Fiorentini, L., Serrani, A., Bolender, M. A. and Doman, D. B., “Nonlinear robust adaptive control of flexible air-breathing hypersonic vehicles,” J. Guid. Control Dyn., 32 (2), 402–417 (2009).CrossRefGoogle Scholar
19. Fiorentini, L., Serrani, A., Bolender, M. A. and Doman, D. B., “Robust Nonlinear Sequential Loop Closure Control Design for An Air-breathing Hypersonic Vehicle Model,” American Control Conference, (Seattle, Washington, USA, 2008) pp. 3458–3463.Google Scholar
20. Farrell, J. A., Polycarpou, M., Sharma, M. and Dong, W., “Command filtered backstepping,” IEEE Trans. Autom. Control, 54 (6), 1391–1395 (2009).CrossRefGoogle Scholar
21. Djapic, V., Farrell, J. and Dong, W., “Land Vehicle Control Using a Command Filtered Backstepping Approach,” American Control Conference, (Seattle, Washington, USA, 2008) pp. 2461–2466.Google Scholar
22. Farrell, J. A., Polycarpou, M., Sharma, M. and Dong, W., “Command Filtered Backstepping,” American Control Conference, (Seattle, Washington, USA, 2008) pp. 1923–1928.Google Scholar
23. Jia, H., “Study of Spatial Target Tracking Nonlinear Control of Underactuated UUV Based on Backstepping,” A Dissertation for the Degree of D.Eng, Harbin Engineering University, (2012).Google Scholar
24. Ghommam, J. and Saad, M., “Backstepping-based cooperative and adaptive tracking control design for a group of underactuated AUVs in horizontal plan,” Int. J. Control, 87 (5), 1076–1093 (2014).Google Scholar
25. Li, J. H., Lee, P. M., Jun, B. H. and Lim, Y. K., “Point-to-point navigation of underactuated ships,” Automatica, 44 (12), 3201–3205 (2008).Google Scholar
26. Fossen, T. I., Marine Control Systems (Marine Cybernetics, Trondheim, Norway, 2002).Google Scholar
27. Do, K. D. and Pan, J., Control of Ships and Underwater Vehicles Design for Underactuated and Nonlinear Marine Systems (Springer-Verlag London Limited, London, 2009).CrossRefGoogle Scholar