Research on Thermocline Tracking based on Multi-AUVs Formation
- Zhen Li, Yiping Li
- Corresponding Author
- Zhen Li
Available Online April 2019.
- https://doi.org/10.2991/icmeit-19.2019.19How to use a DOI?
- multi-AUVs (Multiple Autonomous Underwater Vehicles), thermocline tracking, AUV’s motion control, H∞ robust control.
- 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.
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 BT - 3rd International Conference on Mechatronics Engineering and Information Technology (ICMEIT 2019) PB - Atlantis Press 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 -