GA optimized formation control of autonomous underwater vehicles

Mansour Karkoub, Lotfi Romdhane

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, an optimization procedure is derived to find the best controller for the trajectory-tracking of an autonomous underwater vehicle (AUV) subject to uncertainties (e.g., current disturbances, un-modeled dynamics and parameter variations). The proposed algorithm is based on the dynamic model of the system and a recently proposed controller called Hierarchical Robust Nonlinear Controller (HRNC). The first objective is to find the best values for the controller gains to achieve trajectory tracking of the leader AUV. Starting from a random configuration, the leader AUV and the five followers make and keep a given formation all along the trajectory. A multi-objective optimization, based on genetic algorithms, is used here. A star formation with 6 AUVs is used as a case study to test the proposed algorithm. Simulation results show that the optimized controller gains led to successful formation keeping along the selected path with relatively minimum controller output toques.

Original languageEnglish
Title of host publicationDynamics, Vibration, and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791852033
DOIs
Publication statusPublished - 1 Jan 2018
EventASME 2018 International Mechanical Engineering Congress and Exposition, IMECE 2018 - Pittsburgh, United States
Duration: 9 Nov 201815 Nov 2018

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume4A-2018

Other

OtherASME 2018 International Mechanical Engineering Congress and Exposition, IMECE 2018
CountryUnited States
CityPittsburgh
Period9/11/1815/11/18

Fingerprint

Autonomous underwater vehicles
Controllers
Trajectories
Multiobjective optimization
Stars
Dynamic models
Genetic algorithms

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Karkoub, M., & Romdhane, L. (2018). GA optimized formation control of autonomous underwater vehicles. In Dynamics, Vibration, and Control (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 4A-2018). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2018-87299

GA optimized formation control of autonomous underwater vehicles. / Karkoub, Mansour; Romdhane, Lotfi.

Dynamics, Vibration, and Control. American Society of Mechanical Engineers (ASME), 2018. (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 4A-2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Karkoub, M & Romdhane, L 2018, GA optimized formation control of autonomous underwater vehicles. in Dynamics, Vibration, and Control. ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), vol. 4A-2018, American Society of Mechanical Engineers (ASME), ASME 2018 International Mechanical Engineering Congress and Exposition, IMECE 2018, Pittsburgh, United States, 9/11/18. https://doi.org/10.1115/IMECE2018-87299
Karkoub M, Romdhane L. GA optimized formation control of autonomous underwater vehicles. In Dynamics, Vibration, and Control. American Society of Mechanical Engineers (ASME). 2018. (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)). https://doi.org/10.1115/IMECE2018-87299
Karkoub, Mansour ; Romdhane, Lotfi. / GA optimized formation control of autonomous underwater vehicles. Dynamics, Vibration, and Control. American Society of Mechanical Engineers (ASME), 2018. (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)).
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