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This paper proposes an index system for the formation performance evaluation of multiple autonomous underwater vehicles (multi-AUV) in deep-sea hydrothermal plume exploration. Firstly the formation evaluation criteria and the essentiality of the application of analytic hierarchy process (AHP) and Fuzzy comprehensive evaluation method (Fuzzy-AHP method) are introduced. Then the index system is established...
In this paper a new methodology for decentralized overlapping tracking control of formations of autonomous unmanned vehicles based on the expansion/contraction paradigm is proposed. The methodology is based on a specific linear formation model. Decentralized controllers for the extracted subsystems are contracted to the original space after convenient modifications. It is proved that the overall closed...
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