Hybrid Control Approach to Multi-AUV System in a Surveillance Mission

Bychkov Igor, Davydov Artem, Nagul Nadezhda, Ul’yanov Sergey


Surveillance missions for multiple autonomous underwater vehicle (AUV) system suggest the use of different modes of operation including organizing and keeping a predefined formation, avoiding obstacles, reaching static and tracking dynamic targets. While exploiting a leader-follower strategy to formation control and the vector Lyapunov function method to controller design, we use discrete-event approach and supervisory control theory to switch between operational modes.


underwater vehicle; formation control; vector Lyapunov function; discrete-event system


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