Research on Thermocline Tracking based on Multi-AUVs Formation

DOI

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.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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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  - Proceedings of the 3rd International Conference on Mechatronics Engineering and Information Technology (ICMEIT 2019)
PB  - Atlantis Press
SP  - 106
EP  - 112
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmeit-19.2019.19
DO  - 10.2991/icmeit-19.2019.19
ID  - Li2019/04
ER  -