Translation Control of a Fleet Circular Formation of AUVs under Finite Communication Range

Lara Briñon Arranz (1) , Alexandre Seuret (1, 2) , Carlos Canudas de Wit (1)

1 NECS - Networked Controlled Systems
2 GIPSA-lab - Grenoble Images Parole Signal Automatique

This work proposes a control algorithm to stabilize a circular formation of AUVs tracking a time-varying center. We also consider the problem of uniform distribution of all the agents along the circle from two approaches: all-to-all and limited communication. We tackle with this communication constraint using a cooperative control which includes the Laplacian matrix of the communication graph (fixed or distance-dependent). The system was implemented in computersimulation, accessible though Web1.

Domaines: Automatique / Robotique

Lara Briñon Arranz, Alexandre Seuret, Carlos Canudas de Wit. Translation Control of a Fleet Circular Formation of AUVs under Finite Communication Range. CDC 2009 - 48th IEEE Conference on Decision and Control, Dec 2009, Shanghai, China. pp.6. ⟨hal-00403253⟩