Design of Distributed Control System for AUV Swarms to Circle Around a Body

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Shokohi, Shahab | 2014

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 47404 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Sayyadi, Hassan
Abstract:
In this thesis, a new procedure is presented for control and analysis of a group of autonomous underwater vehicle achieving flocking motion by using a fuzzy-logic-based attractive/repulsive function. Two cooperative control laws are proposed for a group of autonomous agents to achieve flocking formations related to two different centers (mass center and geometric center) of the flock. The first one is designed for flocking motion guided at mass center and the other for geometric center. Desired path for AUV’s has been developed using Virtual agents with mass point dynamics. Smooth graph Laplacian is introduced to overcome the difficulties in theoretical analysis. A new fuzzy-logic-based attractive/repulsive function is proposed for separation and cohesion control among virtual agents. Also, a new method has been suggested to describe an obstacle or an target using proposed fuzzy attractive/repulsive function. The theoretical results are presented to indicate the stability (separation, collision avoidance and velocity matching) of the control systems. Finally, simulation example is demonstrated to validate the theoretical results
Keywords:
Fuzzy Logic ; Nonlinear Control ; Swarm Control ; Obstacle Avoidance ; Underwater Vehicle

No TOC