Improved Multi-UUV Formation Control for Artificial Potential Fields and Virtual Navigators

2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)（2021）

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摘要

For the formation control problem of UUV, the problem is decomposed into single UUV path tracking problem and multi-UUV formation control problem, the single UUV path tracker is designed based on the backstepping method, and the system stability is verified by using Lyapunov function, the traditional artificial potential field method is improved for the local.The virtual navigator is introduced to...

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关键词

UUV,backstepping method,artificial potential field method,virtual navigator,formation control

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