Adaptive containment control of multi-leader fleet of underwater vehicle-manipulator autonomous systems carrying a load

This paper addresses the problem of a fleet containment under the leader-follower strategy with direct topology. The complete fleet navigation, guidance and control have been designed using adaptive control and the artificial potential field formation-based approach. The framework is developed to co...

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Bibliographic Details
Published in:International journal of systems science 2019-06, Vol.50 (8), p.1501-1516
Main Authors: El-Ferik, Sami, Elkhider, Siddig M., Ghommam, Jawhar
Format: Article
Language:English
Subjects:
Adaptive control
adaptive controller
Autonomous underwater vehicles
Cascade control
Containment
containment control
Controllers
Equations of motion
Manipulators
multi-agent systems
Multi-leader
Navigation
Path tracking
Potential fields
Topology
Tracking control
underwater vehicle-manipulator system
Underwater vehicles
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Summary:This paper addresses the problem of a fleet containment under the leader-follower strategy with direct topology. The complete fleet navigation, guidance and control have been designed using adaptive control and the artificial potential field formation-based approach. The framework is developed to control the navigation and formation of a fleet of underwater vehicle-manipulator systems (UVMs). The proposed containment control approach is a distributed cascade control structure composed of a navigation and guidance controller and a tracking controller. For the path tracking control, adaptive is applied to the general equations of motion of the underwater vehicle equipped with a 3 link manipulator owing to its ability to achieve fast and robust adaptation. Potential field like control has been used for navigation and guidance. The objective is to ensure robust formation maintenance while in motion or in a standby position. Simulation results show the performance of the control approach even when subjected to ocean disturbances.
ISSN:0020-7721
1464-5319
DOI:10.1080/00207721.2019.1597939