Distributed formation control of autonomous underwater vehicles with impulsive information exchanges and disturbances under fixed and switching topologies

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


Research units

  • Harbin Institute of Technology


In this paper, the distributed formation problem of multiple autonomous underwater vehicles (AUVs) with impulsive information exchanges and disturbances is investigated. In the studied case, all the information exchanges among the AUVs are completed according to the admissible impulse time sequence, which is more practical in the weak underwater communication environment. By model transformation, sufficient conditions are derived to ensure that the desired formation of multiple AUVs can be achieved under both fixed and switching communication topologies. Finally, a numerical example is presented to verify the effectiveness of the theoretical results.


Original languageEnglish
Title of host publicationProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
Publication statusPublished - 2014
MoE publication typeA4 Article in a conference publication
EventInternational Symposium on Industrial Electronics - Istanbul, Turkey
Duration: 1 Jun 20144 Jun 2014
Conference number: 23


ConferenceInternational Symposium on Industrial Electronics
Abbreviated titleISIE

    Research areas

  • Autonomous underwater vehicle, Fixed and switching topologies, Formation control, Impulsive information exchange

ID: 9312897