Improving the formation-keeping performance of multiple autonomous underwater robotic vehicles

Erfu Yang, Dongbing Gu, Huosheng Hu

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

3 Citations (Scopus)


This paper presents the application of the successive Galerkin approximation (SGA) approach to the nonlinear optimal and robust formation control of multiple autonomous underwater robotic vehicles (AURVs). A nonlinear change of coordinates and feedback is made such that the SGA algorithm developed for time-invariant nonlinear systems can be implemented to the formation control system under consideration in this paper. The formation-keeping performance is significantly improved by solving the associated Hamilton-Jacobi-Isaacs (HJI) equation with the SGA algorithm. The synthesized formation-keeping controller also has optimal and robust properties in comparison with the original control law designed for the formation system by using Lyapunov's direct method. Simulation results are presented to demonstrate the improved formation-keeping performance of a leader-follower formation of AURVs in nonholonomic chained form.

Original languageEnglish
Title of host publication2005 IEEE International Conference on Mechatronics and Automation
Subtitle of host publicationJuly 20 to August 1, 2005, Niagara Falls, Ontario, Canada : conference proceedings
EditorsJason Gu, Peter X. Liu
Place of PublicationPiscataway, NJ.
Number of pages6
ISBN (Print)078039044X
Publication statusPublished - 1 Jul 2005
EventIEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, United Kingdom
Duration: 29 Jul 20051 Aug 2005


ConferenceIEEE International Conference on Mechatronics and Automation, ICMA 2005
Country/TerritoryUnited Kingdom
CityNiagara Falls, ON


  • autonomous underwater vehicles (AUVs)
  • formation control
  • Hamilton-Jacobi-Isaacs (HJI) equation
  • performance improvement
  • successive Galerkin approximation

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