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Leader-following coordination of multiple UUVs formation under two independent topologies and time-varying delays

Yan, Zhe-ping; Liu, Yi-bo; Yu, Changbin (Brad); Zhou, Jia-jia


The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles (multi-UUVs) formation in the case of leader-following is adapted. As the communication between the UUVs is difficult and it is easy to be interfered under the water, time delay is assumed to be time-varying during the members communicate with each other. Meanwhile, the state feedback linearization method is used to transfer the nonlinear and coupling model of UUV...[Show more]

CollectionsANU Research Publications
Date published: 2017
Type: Journal article
Source: Journal of Central South University
DOI: 10.1007/s11771-017-3440-x


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