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Contribution à la coordination de flottille de véhicules sous-marins autonomes

Abstract : Our researches are related to coordination of torpedo-shaped autonomous underwater vehicles flotilla. The cooperation of such vehicles can generate a gain of time, energy, data and exploring area. Indeed, we study the modelling and the control, based on classic sliding mode, of a torpedo-shaped autonomous underwater vehicle. We also present a new high order sliding mode control law in order to limit chattering phenomenon acting on actuators. Finally, we propose a new control strategy to coordinate a flotilla of underwater robots. Our works are based on a decentralized control that consists of Leader-Follower principle. We take advantage of a trajectory generator providing a feasible path for the vehicles and keeping them in group, and a feedback control law keeping the robots on their trajectories. The goal of this method is that each torpedo finds a minimal time trajectory in order to minimize the time of displacement. Some results of simulation and sea experiments illustrate our different theoretical suggestions.
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Contributor : Jean-Mathias Spiewak <>
Submitted on : Saturday, December 8, 2007 - 11:27:27 PM
Last modification on : Friday, May 17, 2019 - 11:40:04 AM
Long-term archiving on: : Thursday, September 27, 2012 - 11:00:31 AM


  • HAL Id : tel-00195079, version 1



Jean-Mathias Spiewak. Contribution à la coordination de flottille de véhicules sous-marins autonomes. Automatique / Robotique. Université Montpellier II - Sciences et Techniques du Languedoc, 2007. Français. ⟨tel-00195079⟩



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