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Lyapunov-Based Formation Control of Underwater Robots

Published online by Cambridge University Press:  15 August 2019

Ali Keymasi Khalaji Open the ORCID record for Ali Keymasi Khalaji [Opens in a new window]  and
Rasoul Zahedifar
Ali Keymasi Khalaji*
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University, Tehran, Iran
Rasoul Zahedifar
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University, Tehran, Iran
*
*Corresponding author. E-mail: keymasi@khu.ac.ir
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Summary

Today, automatic diving robots are used for research, inspection, and maintenance, extensively. Control of autonomous underwater robots (AUVs) is challenging due to their nonlinear dynamics, uncertain models, and the system underactuation. Data collection using underwater robots is increasing within the oceanographic research community. Also, the ability to navigate and cooperate in a group of robots has many advantages compared with individual navigations. Among them, the effectiveness of using resources, the possibility of robots’ collaboration, increasing reliability, and robustness to defects can be pointed out. In this paper, the formation control of underwater robots has been studied. First, the kinematic model of the AUV is presented. Next, a novel Lyapunov-based tracking control algorithm is investigated for the leader robot. Subsequently, a control law is designed using Lyapunov theory and feedback linearization techniques to navigate a group of follower robots in a desired formation associated with the leader and follow it simultaneously. In the obtained results for different reference paths and various formations, the effectiveness of the proposed algorithm is represented.

Keywords

Underwater robotFormation controlMultiagent AUVsTrajectory tracking
Type
Articles
Information
Robotica , Volume 38 , Issue 6 , June 2020 , pp. 1105 - 1122
Copyright
© Cambridge University Press 2019

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