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Application of multiple hybrid underwater gliders(HUGs) is a promising method for large scale,long-term ocean survey.Attitude coordination has become a requisite for task execution of multi-HUG formation.In this paper,a multibody model is presented for attitude coordination among agents in the HUG formation.The HUG formation is regarded as a multi-rigid body system.The interaction between agents in the formation is described by artificial potential field(APF) approach.Attitude control torque is composed of a conservative torque generated by orientation potential field and a dissipative term related with angular velocity.Dynamic modeling of the multibody system is presented to analyze the dynamic process of the HUG formation.Numerical calculation is carried out to simulate attitude synchronization with two kinds of formation topologies.Results show that attitude synchronization can be fulfilled based on the multibody method described in this paper.It is also indicated that different topologies affect attitude control quality with respect to energy consumption and adjusting time.Low level topology should be adopted during formation control scheme design to achieve a better control effect.
Application of multiple hybrid underwater gliders (HUGs) is a promising method for large scale, long-term ocean survey. Attitude coordination has become a requisite for task execution of multi-HUG formation.In this paper, a multibody model is presented for attitude coordination among agents in the HUG formation. HUG formation is regarded as a multi-rigid body system. The interaction between agents in the formation is described by artificial potential field (APF) approach. Attitude control torque is composed of a conservative torque generated by orientation potential field and a dissipative term related with angular velocity. Dynamic modeling of the multibody system is presented to analyze the dynamic process of the HUG formation. Numerical calculation is carried out to simulate attitude synchronization with two kinds of formation topologies. Results show that attitude synchronization can be fulfilled based on the multibody method described in this paper. It is also indicated that different top ologies affect attitude control quality with respect to energy consumption and adjusting time. Low level topology should be adopted during formation control scheme design to achieve a better control effect.