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

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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.

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