Proceedings of the 3rd International Conference on Mechatronics Engineering and Information Technology (ICMEIT 2019)

Research on Thermocline Tracking based on Multi-AUVs Formation

Authors
Zhen Li, Yiping Li
Corresponding Author
Zhen Li
Available Online April 2019.
DOI
https://doi.org/10.2991/icmeit-19.2019.19How to use a DOI?
Keywords
multi-AUVs (Multiple Autonomous Underwater Vehicles), thermocline tracking, AUV’s motion control, H∞ robust control.
Abstract
Thermocline is of great significance to marine scientific research. Multi-autonomous underwater vehicles (AUVs) have great advantages over single autonomous underwater vehicle in ocean observation. In order to solve the multi-AUVs for Thermocline tracking problem, firstly, an AUV thermocline tracking method is proposed based on Kalman filter estimation algorithm. Then, an AUV motion controller based on state feedback is designed by using H∞ robust control method. Finally, a thermocline tracking method with vertical distribution of multi-AUVs formation is proposed and implemented in simulation environment.
Open Access
This is an open access article distributed under the CC BY-NC license.

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Proceedings
Part of series
Advances in Computer Science Research
Publication Date
April 2019
ISBN
978-94-6252-708-9
ISSN
2352-538X
DOI
https://doi.org/10.2991/icmeit-19.2019.19How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Zhen Li
AU  - Yiping Li
PY  - 2019/04
DA  - 2019/04
TI  - Research on Thermocline Tracking based on Multi-AUVs Formation
PB  - Atlantis Press
SP  - 106
EP  - 112
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmeit-19.2019.19
DO  - https://doi.org/10.2991/icmeit-19.2019.19
ID  - Li2019/04
ER  -