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JEET, Vol. 13, No. 1, January 2018
Decentralized Observer-Based Output-Feedback Formation Control of Multiple Unmanned Underwater Vehicles
Ho Jae Lee
Area D - Information and Control
Abstract This paper addresses a decentralized observer-based output-feedback formation control problem for multiple unmanned underwater vehicles (UUVs). The complex nonlinear model for a UUV is feedback-linearized. It is assumed that each UUV in the formation exploits only the information regarding itself and the immediate predecessor, which imposes structural constraints on the formation controller gain matrices. The design condition is presented as a two-stage linear matrix inequalities problem. The synthesized controller demonstrates its own advantages through a numerical example.
Keyword Unmanned underwater vehicle (UUV),Feedback linearization,Formation control,Structural constraint
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