Decentralized Observer-Based Output-Feedback Formation Control of Multiple Unmanned Underwater Vehicles

  • Moon, Ji Hyun (Dept. of Electronic Engineering, Inha University) ;
  • Lee, Ho Jae (Dept. of Electronic Engineering, Inha University)
  • Received : 2017.09.26
  • Accepted : 2017.10.31
  • Published : 2018.01.01


This paper addresses a decentralized observer-based output-feedback formation control problem for multiple unmanned underwater vehicles (UUVs). The complex nonlinear model for a UUV is feedback-linearized. It is assumed that each UUV in the formation exploits only the information regarding itself and the immediate predecessor, which imposes structural constraints on the formation controller gain matrices. The design condition is presented as a two-stage linear matrix inequalities problem. The synthesized controller demonstrates its own advantages through a numerical example.

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Fig. 1. Algorithm to design K

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Fig. 2. Time responses for the 3-UUVs' formation (blue:the first-UUV; red-dash-dotted: the second-UUV; and ,black-dashed: the third-UUV) , , ,

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Fig. 3. Nonlinear control inputs (blue: 1st-UUV; red-dash-dotted: 2nd-UUV; black-dashed: 3rd-UUV)

Table 1. Hydrodynamics parameters

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Supported by : INHA UNIVERSITY


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