Mo Tao, Xianling Li, Xiawei Guan, Zhi Liu, Yi Feng, Ruotong Qu
{"title":"The research of coordination control on distributed multi-agent","authors":"Mo Tao, Xianling Li, Xiawei Guan, Zhi Liu, Yi Feng, Ruotong Qu","doi":"10.1109/YAC.2018.8406394","DOIUrl":null,"url":null,"abstract":"Coordination control of multi UUV (unmanned underwater vehicle) navigation is a research focus in the field of Marine engineering. In this paper, the UUV formation control method combining the idea of path reference point and leader-follower formation control algorithm is proposed. The formation controller is designed by using the anti-step method and Lyapunov function. The simulation result shows that both the leader and follower UUV can track the expectation path, and the designed controller has robustness under current interference.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/YAC.2018.8406394","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
Coordination control of multi UUV (unmanned underwater vehicle) navigation is a research focus in the field of Marine engineering. In this paper, the UUV formation control method combining the idea of path reference point and leader-follower formation control algorithm is proposed. The formation controller is designed by using the anti-step method and Lyapunov function. The simulation result shows that both the leader and follower UUV can track the expectation path, and the designed controller has robustness under current interference.
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