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Singularity-free Formation Path Following of Underactuated AUVs

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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Category

Academic article

Language

English

Author(s)

  • Josef Matous
  • Kristin Ytterstad Pettersen
  • Damiano Varagnolo
  • Claudio Paliotta

Affiliation

  • SINTEF Digital
  • University of Padua
  • Norwegian University of Science and Technology

Year

2023

Published in

IFAC-PapersOnLine

Volume

56

Issue

2

Page(s)

6731 - 6738

View this publication at Norwegian Research Information Repository