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Fuzzy Sliding-Mode Formation Control for Multiple Underactuated Autonomous Underwater Vehicles

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Advances in Swarm Intelligence (ICSI 2016)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 9713))

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Abstract

Being a benchmark for autonomous oceanic inspections, long-distance and long-duration surveys, underwater vehicles formation has attracted increasingly attentions on great application potentials. In order to realize formation control for under-actuated AUVs, sliding mode formation control method has been applied on the basis of the AUV’s kinematic model. Fuzzy logic system is helpful to maintain formation shape for underactuated AUVs. In the simulations, under-actuated AUV characteristics have been analyzed during the first simulation. In the combination with fuzzy sliding-mode formation control and velocity limits, the controller has successfully realized 3D fold line formation and screw line formation. Therefore the fuzzy sliding-mode formation control strategy for under-actuated AUVs has been verified through the simulations.

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Acknowledgements

This project is supported by National Science Foundation of China under the grants of No. 51209050, No. 5159053, the Doctoral Fund of Ministry of Education for Young Scholar with No. 20122304120003, State Key Laboratory of Robotics and Systems of Harbin Institute of Technology No. SKLRS-2012-ZD-03.

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Authors and Affiliations

  1. Key Laboratory of Science and Technology for Autonomous Underwater Vehicle, Harbin Engineering University, 145 Nantong Street, Harbin, China

    Hai Huang, Guo-cheng Zhang, Yue-ming Li & Ji-yong Li

Authors
  1. Hai Huang
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  2. Guo-cheng Zhang
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  3. Yue-ming Li
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  4. Ji-yong Li
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Corresponding author

Correspondence to Hai Huang .

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Editors and Affiliations

  1. Peking University, Beijing, China

    Ying Tan

  2. Xi'an Jiaotong-Liverpool University, Suzhou, China

    Yuhui Shi

  3. Shenzen University, Shenzhen, China

    Li Li

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© 2016 Springer International Publishing Switzerland

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Huang, H., Zhang, Gc., Li, Ym., Li, Jy. (2016). Fuzzy Sliding-Mode Formation Control for Multiple Underactuated Autonomous Underwater Vehicles. In: Tan, Y., Shi, Y., Li, L. (eds) Advances in Swarm Intelligence. ICSI 2016. Lecture Notes in Computer Science(), vol 9713. Springer, Cham. https://doi.org/10.1007/978-3-319-41009-8_54

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  • DOI: https://doi.org/10.1007/978-3-319-41009-8_54

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-41008-1

  • Online ISBN: 978-3-319-41009-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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