Emergent Mind
Formation Path Following Control of Underactuated AUVs -- With Proofs
(2111.03455)
Published Nov 5, 2021
in
eess.SY
and
cs.SY
Abstract
This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow curved paths while maintaining the desired formation. We investigate the dynamics of the path-following error using cascaded systems theory, and show that the closed-loop system is uniformly semi-globally exponentially stable. We validate the theoretical results through numerical simulations.
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