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Coordinated Control for Multiple Autonomous Underwater Vehicles
KTH, School of Electrical Engineering (EES), Automatic Control.
2014 (English)Student paper other, 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis discusses self- and event-triggered control for collective motion of

autonomous underwater vehicles, for which rules are derived and analysed. The

purpose is to enable coordinated underwater motion for agents that can not

update their knowledge of the states of the group while submerged. A selftriggered

control strategy is studied in which a designated leader agent broadcasts

the upcoming waypoints for all agents, based on their desired position

relative the leader. A Lyapunov based event-triggered approach is also studied

using a potential based control strategy. Stability and convergence problems

are discussed as well as the suitability of the control strategies based on feasible

inter-surfacing times for the agents. Simulations illustrate the characteristics of

the control strategies.

Place, publisher, year, edition, pages
2014. , 45 p.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-152207OAI: oai:DiVA.org:kth-152207DiVA: diva2:749208
Supervisors
Available from: 2014-09-23 Created: 2014-09-23 Last updated: 2014-09-23Bibliographically approved

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