Picture of boy being examining by doctor at a tuberculosis sanatorium

Understanding our future through Open Access research about our past...

Strathprints makes available scholarly Open Access content by researchers in the Centre for the Social History of Health & Healthcare (CSHHH), based within the School of Humanities, and considered Scotland's leading centre for the history of health and medicine.

Research at CSHHH explores the modern world since 1800 in locations as diverse as the UK, Asia, Africa, North America, and Europe. Areas of specialism include contraception and sexuality; family health and medical services; occupational health and medicine; disability; the history of psychiatry; conflict and warfare; and, drugs, pharmaceuticals and intoxicants.

Explore the Open Access research of the Centre for the Social History of Health and Healthcare. Or explore all of Strathclyde's Open Access research...

Image: Heart of England NHS Foundation Trust. Wellcome Collection - CC-BY.

Nonlinear formation-keeping and mooring control of multiple autonomous underwater vehicles

Yang, Erfu and Gu, Dongbing (2007) Nonlinear formation-keeping and mooring control of multiple autonomous underwater vehicles. IEEE/ASME Transactions on Mechatronics, 12 (2). pp. 164-178. ISSN 1083-4435

Full text not available in this repository. Request a copy from the Strathclyde author

Abstract

This paper deals with the nonlinear formation-keeping and mooring control of multiple autonomous underwater vehicles (AUVs) in chained form. The AUV formation under consideration is constrained by the desired separations and orientations of follower AUVs with respect to a time-varying leader AUV. First, a time-varying, smooth feedback control law for the formation-keeping of multiple nonholonomic AUVs is presented by taking advantage of the Lyapunov direct method. Its asymptotical convergence to a desired formation trajectory prescribed by a leader-follower pair is guaranteed. Second, a time-varying, smooth feedback control law with asymptotic stability is designed to collaboratively moor the follower AUV to its desired docking position and orientation with respect to the leader by using the integrator backstepping method. Third, the realization problems of physical AUV system and singularity avoidance are investigated for applying the aforementioned control laws to a real formation system of AUVs. Finally, simulation results are provided to illustrate the effectiveness of the proposed control laws.