Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.

Provides detailed instructions for the localization, tracking, and formation of autonomous underwater vehicles Offers solutions for problems related to autonomous underwater vehicles' communication Shares numerous insights into the design of integrated autonomous underwater vehicle systems

Autorentext

Jing Yan received the B.Eng. degree in Automation from Henan University, Kaifeng, China, in 2008, and the Ph.D. degree in Control Theory and Control Engineering from Yanshan University, Qinhuangdao, China, in 2014. In 2014, he was a Research Assistant with the Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai Jiao Tong University, Shanghai, China. From January 2016 to September 2016, he was a Postdoc with University of North Texas, Denton, US. From October 2016 to January 2017, he was a Research Associate with University of Texas at Arlington, Arlington, US. Currently, he is an Associate Professor with Yanshan University, Qinhuangdao, China. Meanwhile, he is also an Associate Editor for IEEE Access. His research interests cover in underwater acoustic sensor networks, networked teleoperation systems, and cyber-physical systems. He has published more than 80 peer-reviewed papers in leading academic journals and conferences. He has alsoreceived numerous awards, including the Excellence Paper Award from the National Doctoral Academic Forum of System Control and Information Processing in 2012, the Outstanding Doctorate Dissertation of Hebei Province in 2015, the Excellence Paper Award from the National Doctoral Academic Forum of System Control and Information Processing in 2012, the Youth Talent Support Program of Hebei Province in 2019, the Outstanding Young Foundation of Hebei Province in 2020, and the Excellence Adviser from Oceanology International Underwater Robot Competition in 2017. Haiyan Zhao received the B.S. degree in Automation from Yanshan University, in 2017. Currently, she is pursuing the Ph.D. degree in Control Theory and Control Engineering at Yanshan University, Qinhuangdao, China. Her research interests cover in underwater acoustic sensor networks and autonomous underwater vehicle. She won the national scholarship in 2019 and presided over Postgraduate Innovation Fund Project of Hebei in 2019. Yuan Meng received the B.S. degree in Measurement and Control Technology and Instruments from Liaoning Technical University, Huludao, China, in 2019. Currently, she is pursuing the Ph.D. degree in Control Theory and Control Engineering at Yanshan University, Qinhuangdao, China. Her research interests include localization of underwater sensor networks and networked underwater robot control. Besides that, she won the national scholarship in 2021 and presided over Postgraduate Innovation Fund Project of Hebei in 2021. Xinping Guan received the B.S. degree in applied mathematics from Harbin Normal University, Harbin, China, in 1986, and the M.S. degree in applied mathematics and the Ph.D. degree in electrical engineering from the Harbin Institute of Technology, Harbin, in 1991 and 1999, respectively. He is currently a Chair Professor with Shanghai Jiao Tong University, Shanghai, China. He has authored and/or co-authored four research monographs, more than 270 papers in IEEE and other peer-reviewed journals, and numerous conference papers. His current research interests include industrial cyber-physical systems, wireless networking and applications in smart city and smart factory, and underwater sensor networks. Dr. Guan was a recipient of the National Outstanding Youth Honored by the NSF of China, the Changjiang Scholar by the Ministry of Education of China, and the State-Level Scholar of New Century Bai Qianwan Talent Program of China. He is an Executive Committee member of the Chinese Automation Association Council and the Chinese Artificial Intelligence Association Council.

Inhalt
Chapter 1 Introduction.- Chapter 2 Persistent Localization of Autonomous Underwater Vehicles without Velocity Measurements.- Chapter 3 Joint Localization and Tracking of Autonomous Underwater Vehicle with State Disturbances.- Chapter 4 Joint Localization and Tracking of Autonomous Underwater Vehicle with Model Uncertainty.- Chapter 5 Tracking Control of Autonomous Underwater Vehicle with time Delay and Actuator Saturation.- Chapter 6 Finite-Time Tracking Control of Autonomous Underwater Vehicle without Velocity Measurements.- Chapter 7 Formation Control of Autonomous Underwater Vehicles with Communication Delay.