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J. Ocean Eng. Technol. > Volume 26(3); 2012 > Article
J. Ocean Eng. Technol. 2012;26(3):6-12.    
DOI: https://doi.org/10.5574/KSOE.2012.26.3.006   

Controller Design to Coordinate Autonomous Unmanned Surface and Underwater Vehicles
Lee Jae-Yong
Samsung Haevy Industries
자율형 무인 수상정 및 잠수정의 군집 주행을 위한 제어기 설계
이재용
삼성중공업
Copyright © 2012 The Korean Society of Ocean Engineers     Open access / Under a Creative Commons License
Key Words: Unmanned surface vehicle (USV), Unmanned underwater vehicle, Lyapunov stability, Formation control
Abstract
In this paper, addressed is the control problem of generating a formation for a group of unmanned surface and underwater vehicles. The formation control scheme proposed in this work is based on a fusion of theleader-follower and virtual reference approaches. This scheme gives a formation constraint representation that is independent of the number of vehicles in the formation and the resulting control algorithm is scalable. One of the most important features in controller design is the ability of the controller to globally and exponentially stabilize the formation errors defined by the formation constraints. The proposed controller is based on feedback linearization, and the formation errors are shown to be globally and exponentially stable in the sense of Lyapunov.


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