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.