@inproceedings{786d1164a88f43278b74823ecacad8dd,
title = "Distributed vector optimization design for multi-AUV systems",
abstract = "This paper proposes a distributed controller to optimize a sum of state-dependent vector objective functions for multi-Autonomous Underwater Vehicle (AUV) systems. In particular, each AUV has a local private objective and can only interact with its neighboring AUVs, which are described by undirected graphs, to measure relative states. Using 6 degree of freedom (DOF) AUV equations of motions, we design a distributed controller by integrating both the consensus and optimization algorithms to the dynamics of AUVs. If the undirected communication graph is connected, we adopt a Lyapunov functional candidate to show that each AUV eventually approaches the same optimal position with a desired attitude. Moreover, simulations with the Remote Environmental Measuring UnitS (REMUS) AUVs for source-seeking tasks are included to illustrate the effectiveness of the proposed controller.",
keywords = "6 DOF equation of motion, distributed controller, Multi-AUV, optimization",
author = "Zhuo Li and Keyou You and Shiji Song",
note = "Publisher Copyright: {\textcopyright} 2017 Technical Committee on Control Theory, CAA.; 36th Chinese Control Conference, CCC 2017 ; Conference date: 26-07-2017 Through 28-07-2017",
year = "2017",
month = sep,
day = "7",
doi = "10.23919/ChiCC.2017.8028677",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "8336--8341",
editor = "Tao Liu and Qianchuan Zhao",
booktitle = "Proceedings of the 36th Chinese Control Conference, CCC 2017",
address = "United States",
}