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arXiv · 2210.14646

Singularity-free Formation Path Following of Underactuated AUVs: Extended Version

Josef Matouš·Kristin Y. Pettersen·Damiano Varagnolo·Claudio Paliotta
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Abstract

This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm to safely guide the vehicles. Compared to the existing literature, the algorithm includes both inter-vehicle and obstacle collision avoidance, and employs a scheme that keeps the vehicles within given operation limits. The algorithm is applied to a six degree-of-freedom model, using rotation matrices to describe the attitude to avoid singularities. Using the results of cascaded systems theory, we prove that the closed-loop system is uniformly semiglobally exponentially stable. We use numerical simulations to validate the results.

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Josef Matouš, Kristin Y. Pettersen, Damiano Varagnolo, Claudio Paliotta. 2022-10-26. Singularity-free Formation Path Following of Underactuated AUVs: Extended Version. https://arxiv.org/abs/2210.14646

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