Formation Control of Autonomous Underwater Vehicles Subject to Communication Delays

  title={Formation Control of Autonomous Underwater Vehicles Subject to Communication Delays},
  author={Pablo Mill{\'a}n and Luis Orihuela and Isabel Jurado and Francisco R. Rubio},
  journal={IEEE Transactions on Control Systems Technology},
This paper addresses the formation control problem for fleets of autonomous underwater vehicles (AUVs). The solution is based on the virtual leader approach, with the main goal of designing a control system to cope with the inter-vehicle communication problems, especially significant in underwater environments. The use of kinematic relations allows the linearization of the AUV dynamics maintaining its turning capacities. The control strategy consists of a feedback H2/H∞ controller in… CONTINUE READING
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