This thesis discusses self- and event-triggered control for collective motion of
autonomous underwater vehicles, for which rules are derived and analysed. The
purpose is to enable coordinated underwater motion for agents that can not
update their knowledge of the states of the group while submerged. A selftriggered
control strategy is studied in which a designated leader agent broadcasts
the upcoming waypoints for all agents, based on their desired position
relative the leader. A Lyapunov based event-triggered approach is also studied
using a potential based control strategy. Stability and convergence problems
are discussed as well as the suitability of the control strategies based on feasible
inter-surfacing times for the agents. Simulations illustrate the characteristics of
the control strategies.
2014. , 45 p.