Research on Thermocline Tracking based on Multi-AUVs Formation

摘要

Thermocline is of great significance to marine scientific research. Multi-autonomous underwater vehicles (AUVs) have great advantages over single autonomous underwater vehicle in ocean observation. In order to solve the multi-AUVs for Thermocline tracking problem, firstly, an AUV thermocline tracking method is proposed based on Kalman filter estimation algorithm. Then, an AUV motion controller based on state feedback is designed by using H∞ robust control method. Finally, a thermocline tracking method with vertical distribution of multi-AUVs formation is proposed and implemented in simulation environment.