2022 Vol.5 Sep.No3

• Title: Formation Control of AUVs based on dynamic surfaces
• Name: HAN Li-jun
• Company: Zhengzhou Business University, Zhengzhou,451200, China
• Abstract:

  This paper mainly studies the formation control problem of autonomous underwater vehicles. Assuming that the parameters of the dynamic model of the autonomous underwater vehicles are partially unknown, the radial basis function neural network is used for approximation, and the design method of the control law mainly adopts the backstepping method. For the leaderless situation, the formation control law of autonomous underwater vehicles is designed based on the dynamic surface method, so that the desired distance between autonomous underwater vehicles can be maintained to achieve the purpose of formation control. Finally, the Lyapunov function is used to prove the stability of the system under the action of the designed control law.

  
  

• Keyword: Autonomous underwater vehicles; Formation control; Backstepping
• DOI: 10.12250/jpciams2022090203
• Citation form: HAN Li-jun.Formation Control of AUVs based on dynamic surfaces [J]. Computer Informatization and Mechanical System,2022,Vol.5,pp.16-19

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