Abstract
This paper considers the cooperative control of a group of autonomous underactuated vessels (AUV). The control objective for each vessel is to maintain its position in the formation while Formation Reference Point (FRP) tracks a predefined spatial path. In order to achieve this goal, we use vectorial backstepping to solve two subproblems: one is geometric task, anther is dynamic task. The former guarantees that the FRP tracks the spatial path, while the later ensures accurate speed control along the path. A dynamic guidance system with feedback from the state of all AUV ensures that they have the same priority (no leader) when moving along the path. The controller is proposed basically based on Lyapunov direct method and backstepping technique. Simulation results are presented and discussed.
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