文章基本信息

标题：A Feedback Linearization based Leader-follower Optimal Formation Control for Autonomous Underwater Vehicles
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作者：Jian Yuan
期刊名称：Advances in Computer Science and its Applications
印刷版ISSN：2166-2924
出版年度：2012
卷号：1
期号：1
页码：45-48
语种：English
出版社：World Science Publisher
摘要：Leader-follower formation of autonomous underwater vehicles is investigated. Firstly, relative motion equations with disturbances are constructed, and the equations are converted into a linear system by feedback linearization and then feedforward and feedback optimal control (FFOC) law is designed for the linear system. Numerical simulations show the effectiveness of the control scheme.
关键词：Autonomous Underwater Vehicle, Leader-follower Formation, Feedback Linearization