Synchronized Swimming and Formation Control for Fish-inspired Underwater Vehicles
MetadataShow full item record
Multi-vehicle underwater control has different applications in oceanographic sampling and water pollution monitoring. Previous work in this field generated control laws that stabilizes parallel and circular formations of self-propelled particles in addition to consensus control laws in Euclidean space and nonlinear spaces. This thesis presents second order distributed control systems that generate velocity and phase consensus, parallel motion and circular motion for a number of nonlinear agents on the tangent bundle of the $N$-torus. The nonlinear agents considered in this work are underwater fish inspired vehicles modeled by Chaplygin sleigh dynamics. This work uses the Laplacian matrix of a connected interaction graph to achieve phase and velocity consensus on a periodic orbit and to generate average circular motion of all the agents on the same circle. Second, a phase potential is used to generate average parallel motion. Results are illustrated using numerical simulations.