【IJAC推文】综述：自主水下航行器的协同编队控制

IJAC ReviewCooperative Formation Control of Autonomous Underwater Vehicles: An Overview
(自主水下航行器的协同编队控制：综述)
Bikramaditya Das(1), Bidyadhar Subudhi(2), Bibhuti Bhusan Pati(1)1 Department of Electrical Engineering, Veer Surendra Sai University of Technology, Burla 768018, India2 Department of Electrical Engineering, National Institute of Technology, Rourkela 769008, India------------------------------------Published in IJAC Vol.13 No.3, 2016

Significance

    It is necessary to select the appropriate formation control method based on control variables, complexities level, advantages and disadvantages, etc. The significance of this paper is to investigate the key features of static or dynamic formation for a group of autonomous underwater vehicles (AUVs), i.e., to overview various methods used for underwater depending upon some regulation.

Content

    A detailed description about the system model of AUV in six degree of freedom (DOF) in earth fixed frame is discussed. A peer review on formation control of multiple AUVs based on regulatory and tracking control techniques are briefly explained and stability analysis is also presented. Various challenges and applications of formation control are also discussed.

Methods

    The paper reviewed various methods used for formation control of AUVs in the terms of basic control strategies, control variables, complexities level and their advantages and disadvantages. This paper also discussed the challenges and applications in formation control of a group of AUVs.

Innovation

    The paper will provide a comprehensive survey to research students, researchers, engineers and scientists who work in the field of formation control of autonomous underwater vehicles.

Author information 

Bikramaditya Das received the B.Tech. degree in electronics and telecom-munications engineering from the Biju Patnaik University of Technology, Rourkela, M.Tech. degree in wireless communication from Department of Electrical Engineering, National Institute of Technology Rourkela, India in 2010, and the Ph. D. degree in control under communication constraints from Department of Electrical Engineering, Veer Surendra Sai University of Technology Odisha, Burla in 2016. He is currently working as assistant professor at Department of Electronics and Telecommunication Engineering, Veer Surendra Sai University of Technology Odisha, Burla. He is an associate member of IEI.  His research interests include formation control of autonomous underwater vehicles, robotics and wireless communication.    E-mail: [e-mail]    ORCID ID: 0000-0001-9734-806X

Bidyadhar Subudhi received the B. Eng. degree in electrical engineering from National Institute of Technology (NIT), Regional Engineering College (REC), India in 1988, the M. Eng. degree in control and instrumentation from Indian Institute of Technology Delhi (IIT), India in 1993, and the Ph. D. degree in control system engineering from University of Sheffield, UK in 2003. He was a post-doctoral research fellow at Department of Electrical & Computer Engineering, National University of Singapore (NUS), Singapore from May to November in 2005. He was a visiting professor in University of Saskatchewan, Canada from May to June in 2009 and also at Asian Institute of Technology (AIT) Bangkok from January to May in 2013. He is a professor at Department Electrical Engineering, National Institute of Technology (NIT), India. He is currently coordinator of Centre of Excellence, Renewable Energy System, Centre of Excellence, Industrial Electronics & Robotics, and head of Computer Centre at NIT. He is also the principal investigator in several research projects funded by Defense Research Development Organization (DRDO), Council of Scientific and Industrial Research (CSIR) and Department of Science and Technology (DST), including an international cooperation project under the UK India Education Research Initiative (UKIERI) scheme. He has published 40 journal papers in prestigious journals such as IEEE Transactions, IET and Elsevier and presented 70 research papers in many international conferences both in India and abroad. He has edited one book and contributed 3 book chapters. He chaired a number of technical sessions in international conferences. He is a fellow of the IET (UK) and senior member of IEEE (USA). He is a regular reviewer of IEEE Transaction on Systems, Man, & Cybernetics, Power Delivery, Control System Technology and Neural Networks and Automatic Control.    His research interests include system identification and adaptive control, networked control system, control of flexible and under water robots, control of renewable energy systems, estimation and filtering with application to power system.    E-mail: [e-mail] (Corresponding author)    ORCID ID: 0000-003-4383-6783

Bibhuti Bhusan Pati is currently working as a professor in Electrical Engineering Department, Veer Surendra Sai University of Technology Odisha, Burla. He is the fellow of Institution of Engineers, member Indian Society for Technical Education, Bigyan Academy, and Engineering Congress. He has published more than 100 papers in reputed journals and conferences. He is the investigator of many AICTE sponsored projects.  His research of interests include control system and applications to power system.    E-mail: pati bibhuti@redi®mail.com

Article DetailsCitation: Bikramaditya Das, Bidyadhar Subudhi, Bibhuti Bhusan Pati. Cooperative formation control of autonomous underwater vehicles: An overview International Journal of Automation and Computing, vol.13, no.3, pp.199-225, 2016. 
Keywords: Autonomous underwater vehicles (AUV), cooperative control, formation control, tracking control, regulatory control
Full Text: http://www.ijac.net/EN/abstract/abstract1821.shtmlhttp://link.springer.com/article/10.1007/s11633-016-1004-4关注本微信公众号，点击“期刊在线”-“当期目录”也可阅读全文。

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