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Chinese Journal of Ship Research, Volume. 20, Issue 1, 360(2025)

Distributed three-dimensional affine formation maneuver control for multiple autonomous underwater vehicles

Mingqi YAO1, Lin YU1, Kai GUO1, Yu LU2, and Lei QIAO1
Author Affiliations
  • 1School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
  • 2School of Energy and Power Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
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    References(14)

    [3] B DAS, B SUBUDHI, B B PATI. Cooperative formation control of autonomous underwater vehicles: an overview. International Journal of Automation and Computing, 13, 199-225(2016).

    [5] G Q XIA, Y ZHANG, W ZHANG et al. Dual closed-loop robust adaptive fast integral terminal sliding mode formation finite-time control for multi-underactuated AUV system in three dimensional space. Ocean Engineering, 233, 108903(2021).

    [6] G Q XIA, Y ZHANG, W ZHANG et al. Multi-time-scale 3-D coordinated formation control for multi-underactuated AUV with uncertainties: design and stability analysis using singular perturbation methods. Ocean Engineering, 230, 109053(2021).

    [7] C Z YUAN, S LICHT, H B HE. Formation learning control of multiple autonomous underwater vehicles with heterogeneous nonlinear uncertain dynamics. IEEE Transactions on Cybernetics, 48, 2920-2934(2018).

    [9] C SURYENDU, B SUBUDHI. Formation control of multiple autonomous underwater vehicles under communication delays. IEEE Transactions on Circuits and Systems Ⅱ: Express Briefs, 67, 3182-3186(2020).

    [11] H L WEI, C SHEN, Y SHI. Distributed Lyapunov-based model predictive formation tracking control for autonomous underwater vehicles subject to disturbances. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 51, 5198-5208(2021).

    [13] M J ZHANG, X LIU, B J YIN et al. Adaptive terminal sliding mode based thruster fault tolerant control for underwater vehicle in time-varying ocean currents. Journal of the Franklin Institute, 352, 4935-4961(2015).

    [14] Y X ZHENG, L ZHANG, B HUANG et al. Distributed event-triggered affine formation control for multiple underactuated marine surface vehicles. Ocean Engineering, 265, 112607(2022).

    [15] C ZHU, B HUANG, Y LU et al. Distributed affine formation maneuver control of autonomous surface vehicles with event-triggered data transmission mechanism. IEEE Transactions on Control Systems Technology, 31, 1006-1017(2023).

    [16] L M CHEN, J MEI, C J LI et al. Distributed leader–follower affine formation maneuver control for high-order multiagent systems. IEEE Transactions on Automatic Control, 65, 4941-4948(2020).

    [17] D Y LI, G F MA, Y XU et al. Layered affine formation control of networked uncertain systems: a fully distributed approach over directed graphs. IEEE Transactions on Cybernetics, 51, 6119-6130(2021).

    [18] L QIAO, W D ZHANG. Trajectory tracking control of AUVs via adaptive fast nonsingular integral terminal sliding mode control. IEEE Transactions on Industrial Informatics, 16, 1248-1258(2020).

    [19] L QIAO, W D ZHANG. Adaptive non-singular integral terminal sliding mode tracking control for autonomous underwater vehicles. IET Control Theory & Applications, 11, 1293-1306(2017).

    [21] [21] SJTUMIRUS. Distributed threedimensional affine fmation maneuver control f multiple autonomous underwater vehicles[OL]. GitHub (20241115) [20241116]. https:sjtumirus.github.ioMIRUS.github.ioresearchCJSR.

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    Mingqi YAO, Lin YU, Kai GUO, Yu LU, Lei QIAO. Distributed three-dimensional affine formation maneuver control for multiple autonomous underwater vehicles[J]. Chinese Journal of Ship Research, 2025, 20(1): 360

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    Paper Information

    Category: Motion Control

    Received: Dec. 21, 2023

    Accepted: --

    Published Online: Mar. 13, 2025

    The Author Email:

    DOI:10.19693/j.issn.1673-3185.03696

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology